文献类型：期刊文献

英文题名：A computationally efficient model to capture the inertia of the piezoelectric stack in impact drive mechanism in the case of the in-pipe inspection application

作者：Li, Jin[1];Liu, Chang Jun[1];Xiong, Xin Wen[1];Liu, Yi Fan[2];Zhang, Wen Jun[3]

机构：[1]E China Univ Sci & Technol, Sch Mech & Power Engn, Complex & Intelligent Syst Res Ctr, Meilong Rd 130, Shanghai 200237, Peoples R China;[2]Ecole Polytech Fed Lausanne, Robot Syst Lab, C-O Nicolas Cantale Ave Prefaully 56, CH-1020 Lausanne, Switzerland;[3]Univ Saskatchewan, Dept Mech Engn, Saskatoon, SK S7N 5A9, Canada

年份：2016

卷号：7

期号：1

起止页码：79

外文期刊名：MECHANICAL SCIENCES

收录：;EI(收录号：20210409819090);WOS:【SCI-EXPANDED(收录号:WOS:000375756800009)】；

基金：This work was supported in part by the National Natural Science Foundation of China (Grant No. 51305138 and 51375166), the Fundamental Research Funds for the Central Universities and Science and Technology Commission of Shanghai Municipality (Grant No. 13ZR1453300).

语种：英文

外文关键词：Machine design - Robots - Computational efficiency - Piezoelectricity - Economic and social effects

摘要：This paper presents a new model for the piezoelectric actuator (PA) in the context of in the impact drive mechanism (IDM) for the in-pipe inspection application. The feature of the model is capturing the inertia of PA stack in a distributed manner as opposed to the lumped manner in literature. The benefit arising from this feature is a balanced trade-off between computational efficiency and model accuracy. The study presented in this paper included both theoretical development (i.e. the model of the piezoelectric actuator and the model of the entire IDM which includes the actuator) and experimental verification of the model. The study has shown that (1) the inertia of the PA in such a robot will significantly affect the accuracy of the entire model of IDM and (2) the simulation of the dynamic behavior with the proposed model is sufficiently accurate by comparing with the experiment. It is thus recommended that the inertia of the PA be considered in the entire model of the IDM robot. The model is an analytical type, which has a high potential to be used for the model-based control of the IDM robot and optimization of its design for a much improved performance of the IDM system.