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Zhang Yongshun
School of Mechanical Engineering,
Dalian University of Technology,
Dalian 116024, China
Ning Liwei
Department of Mechanical Engineering, Hunan Institute of
Engineering,
Xiangtan 411101, China |
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NEW KIND OF
WIRELESS MICRO
ROBOT ACTUATED AND CONTROLLED THROUGH OUTSIDE MAGNETIC
FIELD*
Abstract:
A new method to drive and control micro in-pipe robot by means of magnetic field outside pipe is put for-ward, in which wireless micro robot can move forward driven by the vibration of its legs through converting magnetic energy into mechanical one under the action of piezomagnetism and magnetomechanical coupling of its micro GMA, when time varied oscillating magnetic field with different frequency applied outside pipe. Firstly its systematical structure and operation principle are introduced, and energy converting process from outside magnetic one into mechanical one is analyzed through setting up the magnetic and mechanical dynamic model of GMA and establishing dynamic model of two stage amplifier of mobile carrier. Robot systematical experiments show the correctness of the theoretical analysis and its feasibility. As a result, drive and control method without cable through outside magnetic field is realized.
Key words: Micro in-pipe robot Giant magnetostrictive actuator (GMA) External magnetic drive Dynamic model
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