Abstract
Abstract. This paper presents a new model for the piezoelectric actuator (PA) in the context of in the impact drive mechanism (IDM) for the in-pipe inspection application. The feature of the model is capturing the inertia of PA stack in a distributed manner as opposed to the lumped manner in literature. The benefit arising from this feature is a balanced trade-off between computational efficiency and model accuracy. The study presented in this paper included both theoretical development (i.e. the model of the piezoelectric actuator and the model of the entire IDM which includes the actuator) and experimental verification of the model. The study has shown that (1) the inertia of the PA in such a robot will significantly affect the accuracy of the entire model of IDM and (2) the simulation of the dynamic behavior with the proposed model is sufficiently accurate by comparing with the experiment. It is thus recommended that the inertia of the PA be considered in the entire model of the IDM robot. The model is an analytical type, which has a high potential to be used for the model-based control of the IDM robot and optimization of its design for a much improved performance of the IDM system.
Highlights
A tremendous amount of progresses in micro-robotics have been made in recent years, including micromanipulation for micro or nano-objects handling and nano-positioning
Liu et al (2009) studied the impact drive mechanism (IDM) robot actuated by a piezoelectric bimorph based on a model without consideration of the inertia of the piezoelectric actuators (PA)
This paper presents a study on developing an analytical model for the IDM robot in the context of in-pipe inspection
Summary
A tremendous amount of progresses in micro-robotics have been made in recent years, including micromanipulation for micro or nano-objects handling and nano-positioning. Liu et al (2009) studied the IDM robot actuated by a piezoelectric bimorph (which is of a different configuration of piezoelectric materials to generate motion or deformation) based on a model without consideration of the inertia of the PA. Sabzehmeidani et al (2010) studied IDM intelligent control based on mass-spring-damping model with 2 DOFs. Makkar et al (2007) and Li et al (2009) studied the modeling for friction without consideration of the inertia of PA. Sabzehmeidani et al (2010) studied IDM intelligent control based on mass-spring-damping model with 2 DOFs Their model has not explicitly included the dynamics of the PA. The inertia of the PAs consumes the driving power and influences the dynamic behaviors of the robot Their effects may be comparable with those out of other components.
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