执行机构
机器人
形状记忆合金
机制(生物学)
机械工程
工程类
弯曲分子几何
结构工程
模拟
计算机科学
人工智能
电气工程
认识论
哲学
作者
Alireza Hadi,Azadeh Hassani,Khalil Alipour,Reza Askari Moghadam,Pouya P. Niaz
标识
DOI:10.1177/1045389x19898255
摘要
To detect and repair the faults existing in pipes and narrow ducts in the industry, access to the inside of these pipes is often required. In this article, the conceptual design for a miniature robot for inspecting the inner walls of pipes is presented, such that the proposed robot can operate adaptably and freely in vertical, inclined, and bent paths. The robot utilizes a simple mechanism based on shape memory alloy actuators for adjusting the contact force between the robot and the inner wall of the pipe. Use of shape memory alloys as actuators for the adaptive part will result in a smaller and lighter robot, further increasing its mobility in narrower ducts. Modeling, simulation, and control of the proposed system is conducted and simulation results are validated by performing practical laboratory experiments on a built prototype.
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