A Miniature Mobile Robot Using Piezo Vibration for Mobility in a Thin Tube

[+] Author and Article Information
Shin-ichi Aoshima, Takeshi Tsujimura, Tetsuro Yabuta

NTT Transmission Systems Laboratories, Ibaraki-Ken, 319-11, Japan

J. Dyn. Sys., Meas., Control 115(2A), 270-278 (Jun 01, 1993) (9 pages) doi:10.1115/1.2899031 History: Received April 01, 1990; Revised July 21, 1992; Online March 17, 2008


This paper proposes a miniature mobile robot that uses piezo vibration to move within a thin tube. The robot consists of a piezo bimorph with elastic fins attached at an angle. Robot movement is driven by differences in the friction of the fin’s against the tube wall between the forward and backward fin movements induced by piezo vibration. After analyzing the dynamics of the piezo elements, we analyzed the robot’s mobile mechanism by extending Hamilton’s principle using the dynamic results of the piezo vibration analysis. Measurements of both mobile velocity and tractive force of an experimental robot agree closely with theoretical results. This indicates that the proposed dynamic mobile mechanism accurately expresses robot motion within a thin tube.

Copyright © 1993 by The American Society of Mechanical Engineers
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