Abstract:
An experimental bimorph piezoelectric element (PZT) actuator for
small pipe robot is developed. The robot can move in
f
20 mm pipe, and can carry a CCD camera for detecting cracks or
fine holes on inner surface of pipe. The velocity of the robot
can reach 17~22 mm/s for vertical pipe up/down, respectively.
Moving principle and its performance characteristics are
presented.
Key words:
Actuator Robot Piezoelectric element Pipe
* This project is supported by National Natural Science Foundation of China (No.69889501). Received January 26, 2001; received in revised form September 20, 2001; accepted January 10, 2002
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