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论文类型：期刊论文

发表时间：2022-06-29

发表刊物：机械工程学报

所属单位：机械工程学院

期号：6

页面范围：135-139

ISSN号：0577-6686

摘要：One micro in-pipe robot with giant magnetostrictive alloy actuator is developed, and a new method, without power supply cable, to drive and control the micro robot through the magnetic field outside the pipe is put forward. Thereby, its reliability and feasibility are improved. The control principal is that the micro robot moves forward with its legs vibrated by converting magnetic energy into mechanical one under the action of piezomagnetism and magnetomechanical couple of its micro actuator while the time varied oscillating magnetic field with different frequencies is applied outside the pipe. Its systematical structure and operation principle are introduced. Based on vibration theory, equations of its moving speed and traction force are described by the deep analysis on its moving dynamic characteristics. Robot systematical experiments to verify its feasibility are conducted. As a result, the wireless drive and control method of micro robot through the outside magnetic field is realized.

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