A Crawling Based Locomotive Mechanism Using a Tiny Ultrasonic Linear Actuator
WED1-2
39th International Symposium on Robotics 2008 Seoul, Korea / October 15~17, 2008
Proceedings of the 39nd ISR(International Symposium on Robotics), 15~17 October 2008
A Crawling Based Locomotive Mechanism Using a Tiny Ultrasonic Linear Actuator (TULA)
Hyunjun Park, Byungkyu Kim School of Aerospace and Mechanical Engineering Korea Aerospace University 100, Hanggongdae gil, Gyeonggido, Korea E-mail : bkim@kau.ac.kr Jong-Oh Park School of Mechanical System Engineering Chonnam National University Korea Seok-Jin Yoon Thin Film material Research Center KIST Korea
Abstract A crawling based locomotive mechanism for inspection of small sized pipes is developed by using a tiny ultrasonic linear actuator. In case of piezo material based actuators, it is known that they have small displacement with high voltage supply. In order to overcome the limitation of common piezo actuators, the impact based piezo actuator(TULA) has been developed to realize long stroke up to 11 mm. By using TULA, we develop a crawling locomotive mechanism. Previously reported locomotive mechanisms such as earthworm-like and inchworm-like mechanism can not realize continuous motion but move with step-wise motion since they have clamping and elongation sequence for movement. Therefore, long time loss for movement of one stroke is inevitable. In this crawling mechanism, nearly continuous motion is achieved by using both directions of actuating forces. Owing to the light weight and the simple structure of the actuator, the crawling based locomotive mechanism has simple design with 9mm diameter, 40mm length and 1.1g weight. It shows 9.2mm/s in 18.5mm inside diameter of a pipe regardless of the pipe’s tilting angle. 1. Instruction The development of modern industries brought about the complexity of machines and devices and they require smallsized in-pipe locomotive mechanisms for inspection and repair. Since large-sized in-pipe locomotive mechanisms [1] using conventional motors are not
39th International Symposium on Robotics 2008 Seoul, Korea / October 15~17, 2008
Proceedings of the 39nd ISR(International Symposium on Robotics), 15~17 October 2008
A Crawling Based Locomotive Mechanism Using a Tiny Ultrasonic Linear Actuator (TULA)
Hyunjun Park, Byungkyu Kim School of Aerospace and Mechanical Engineering Korea Aerospace University 100, Hanggongdae gil, Gyeonggido, Korea E-mail : bkim@kau.ac.kr Jong-Oh Park School of Mechanical System Engineering Chonnam National University Korea Seok-Jin Yoon Thin Film material Research Center KIST Korea
Abstract A crawling based locomotive mechanism for inspection of small sized pipes is developed by using a tiny ultrasonic linear actuator. In case of piezo material based actuators, it is known that they have small displacement with high voltage supply. In order to overcome the limitation of common piezo actuators, the impact based piezo actuator(TULA) has been developed to realize long stroke up to 11 mm. By using TULA, we develop a crawling locomotive mechanism. Previously reported locomotive mechanisms such as earthworm-like and inchworm-like mechanism can not realize continuous motion but move with step-wise motion since they have clamping and elongation sequence for movement. Therefore, long time loss for movement of one stroke is inevitable. In this crawling mechanism, nearly continuous motion is achieved by using both directions of actuating forces. Owing to the light weight and the simple structure of the actuator, the crawling based locomotive mechanism has simple design with 9mm diameter, 40mm length and 1.1g weight. It shows 9.2mm/s in 18.5mm inside diameter of a pipe regardless of the pipe’s tilting angle. 1. Instruction The development of modern industries brought about the complexity of machines and devices and they require smallsized in-pipe locomotive mechanisms for inspection and repair. Since large-sized in-pipe locomotive mechanisms [1] using conventional motors are not
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