pimiПриборы и методы измеренийDevices and Methods of Measurements2220-95062414-0473BNTUpimi-134Research ArticleСредства измеренийMeasuring instrumentsИНСПЕКЦИОННЫЕ РОБОТЫ С ПЬЕЗОПРИВОДОМ: МОДЕЛИРОВАНИЕ, СИМУЛЯЦИЯ, ОПЫТНЫЕ ОБРАЗЦЫINSPECTION ROBOTS WITH PIEZO ACTUATORS: MODELING, SIMULATION AND PROTOTYPESБеккерФ.BeckerF.Klaus_Zimmermann@tu.ilmenau.deЦиммерманнК.ZimmermannK.Klaus_Zimmermann@tu.lmenau.deМинченяВ.MinchenyaV.Klaus_Zimmermann@tu.ilmenau.deЛысенкоВ.LysenkoV.Klaus_Zimmermann@tu.ilmenau.deЧигаревА.ChigarevA.Klaus_Zimmermann@tu.ilmenau.deIlmenau University of Technology, IlmenauGermanyBelarusian National Technical UniversityBelarus201129042015022026Copyright © Беккер Ф., Циммерманн К., Минченя В., Лысенко В., Чигарев А., 20152015Беккер Ф., Циммерманн К., Минченя В., Лысенко В., Чигарев А.Becker F., Zimmermann K., Minchenya V., Lysenko V., Chigarev A.Данная работа распространяется под лицензией Creative Commons Attribution 4.0.This work is licensed under a Creative Commons Attribution 4.0 License.https://pimi.bntu.by/jour/article/view/134

Models, simulations and experimental setups of resonant inspection robots are presented. The goal is to show ways to cope with the new requirements and to use the given chances to create novel mobile robots. For the creation of a directed motion the vibration behavior of simple beams and plates is used. It is possible to design robots for 2-dimesnional locomotion which are characterized by a light weight, small size, relative simple design and the ability to create controllable motion using only one actuator. Different types of actuators for micro robots are presented and compared. Furthermore the dynamical behavior of a piezoelectric bending actuator under elastic boundary conditions is investigated and a model for the motion of the locomotion-generating limbs is presented. The comparison with experiments and prototypes shows that the results of the analytical and computational models agree 

резонансные роботысистемы пьезоприводавибрационные колебанияresonant robotspiezo-driven systemsvibrations of continuaReferencesBecker, F. Single Piezo Actuator Driven Micro Robots for 2-dimensional Locomotion / F. Becker. – Aachen : Electro. Proceedings of Workshop on Microactuators and Micromechanisms, 2010.Becker, F. Single Piezo Actuator Driven Micro Robots for 2-dimensional Locomotion / F. Becker. – Aachen : Electro. Proceedings of Workshop on Microactuators and Micromechanisms, 2010.Blickhan, R. Intelligence by Mechanics. / R. Blickhan. – London : Philosophical Transactions of the Royal Society 365, 2007.Blickhan, R. Intelligence by Mechanics. / R. Blickhan. – London : Philosophical Transactions of the Royal Society 365, 2007.Pfeifer, G. Piezoelektrische lineare Stellantriebe./ G. Pfeifer. – Karl-Marx-Stadt : Wissenschaftliche Schriftenreihe der Technischen Hochschule, 1982.Pfeifer, G. Piezoelektrische lineare Stellantriebe./ G. Pfeifer. – Karl-Marx-Stadt : Wissenschaftliche Schriftenreihe der Technischen Hochschule, 1982.Song, S.Y. Surface-Tension-Driven Biologically Inspired Water Strider Robot: Theory and Experiments / S.Y. Song, M. Sitti // IEEE Robotics and Automation Society: Transactions on Robotics 23. – No. 3. – 2007.Song, S.Y. Surface-Tension-Driven Biologically Inspired Water Strider Robot: Theory and Experiments / S.Y. Song, M. Sitti // IEEE Robotics and Automation Society: Transactions on Robotics 23. – No. 3. – 2007.

The authors declare that there are no conflicts of interest present.