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1、浙江大学博士学位论文基于钹形压电复合驱动的微小管内机器人技术研究姓名：郭彤申请学位级别：博士专业：机械制造及其自动化指导教师：柯映林;李江雄20050901文章管内能够航技合内了标了一人光主曲数化]●0U“UABSTRACTAlthoughthespatialcurvedmicro-pipehasbeenusedinserialindustrialfieldsliketheaeronauticandaeruspace,thenautical，thechemical，themobileandthenuclear-poweredplants,thenondestructiveinspec
2、tionfortheinsidesurfaceand3Dgeometricalreconslructionarestillthetechnicalbottlenecktorestrictitsapplications．So,thein-pipemicro-robotforingoingnondestructiveinspectionhasbeenatlractedmoreattentionsintheworld．Aftersummarizingthehistoryofrobots．thedomesticandforeign啾erch—a吣ofthein-pipemicro-robot
3、andthekeytechnologiestobesolved,thisdissertationputforwardtoresearchakindofautomaticallypositioningin-pipemicro-robot,whichwasactuatedbypiezoelectriccymbalsbased0nthetheoryofinertiadriving,dependingontheproblemsofspatialcurvedpipeinspectionandgeometricalreconstruction．Thedissertationdiscussedth
4、ein-pipemicro-robotsystemonthetwofunctionalparts,therobotmovingpowersystemandtherobotmovingpositioningsystem．Firstly,aimingatthembotpowersystem,akindofcompositepiezoelectrictransducer,piezoelectriccymbal，wasresearchedanddeveloped．Toimprovetheproperties,aslottingstructur“optimizationofpiezoelect
5、riccymbalWasbroughtforward．Th'oughthemechanismmodelingandmodelanalysis,fmiteelementanalysisflEA),andexperiments,itwasdemonstratedthattheslottedcymbalpossessedmoreadvancedpropertiesinolltplltdisplacementandforce,andenergytransmission．Based09thetheoryofinertiadriving,apiezoelectriccymbalactuatorm
6、ovinginlOmmdiametersWasdesignedandmanufacturedforthein-pipemicro-robot,anditstheoreticaldynamicmodelandexpressionofstatespaceweresctupbasedonthevibrationtheory．Throughthemodeanalysisandthecomputersimulationanalysis,themovingmechanismoftheactuatorWasexpounded．Experimentsontheactuatoraboutthespee
7、d,theloadcharacteristic．andadaptabilitytothepipeshadbeencarriedout,andtheresultsshowedtheactuatorhadadvancedkineticproperties．Secondly,inordertoperformthemovingpositioninginthecurvedpipeoflOnunindiameters，astyleofinchworm-likemovi
