CAJ | 학술논문

描述了一种适用于φ20mm管径的管道检测微机器人的驱动器，它由双压电薄膜、芯杆和配重质量构成。采用有限元分析的方法研究了双压电薄膜在不同边界条件下，驱动器在一阶固有频率处的稳态响应，得出双压电薄膜的压制角度为9°和63°时，驱动器的稳态响应较大。该结论可成为此类微机器人优化设计的理论依据。
묘술료일충괄용우φ20mm관경적관도검측미궤기인적구동기，타유쌍압전박막、심간화 배중질량구성。채용유한원분석적방법연구료쌍압전박막재불동변계조건하，구동기재일계 고유빈솔처적은태향응，득출쌍압전박막적압제각도위9°화63°시，구동기적은태향응교 대。해결론가성위차류미궤기인우화설계적이론의거。
The PZT bimorph actuator for microrobot, which is suited for inspecting the pipe of φ20mm diameter were studied. The actuator is made of PZT bimorph, center shaft and mass. With different boundary conditions of bi morph, the response at the first mode natural frequency of actuator were ana lyzed. FEM( finite element method) were used . The conclusion can be reach ed that when the fixing degree is 9° or 63°, the response is larger than those o f others. All these are the theoretical basis of optimization of this kind of mi crorobot.