Development of pipe inspection robot; driving system and control of outer-rotor-typed spherical ultrasonic motor
Development of pipe inspection robot; driving system and control of outer-rotor-typed spherical ultrasonic motor
复制标题
管道检测机器人的开发；
DOI：
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发表时间：
2009
期刊：
影响因子：
--
通讯作者：
S. Toyama
中科院分区：
文献类型：
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作者：
M. Hoshina;T. Mashimo;S. Toyama
介绍了一种新型球面超声电机(SUSM)作为管道检测机器人摄像驱动器的驱动系统和控制方法。采用SUSM的管道检测机器人是一种具有三个旋转自由度(DOF)的微型驱动器，可插入直径为50 mm的管道内侧。与以前的SUSM相比，新的SUSM改进了移动范围，机器人可以将摄像头指向任何方向。并研制了可插入管道的紧凑型电机驱动电路。从超声波电机的运动学和特性出发，确定了超声波电机的旋转方向方法和控制策略。旋转方向由外加电压的相位差决定，转速由驱动电路的频率决定。在使用旋转电位器的小型位置传感系统的控制实验中，由同步电机、驱动电路和传感系统组成的驱动系统显示了从多个指定点在1度精度内恢复到默认位置的能力。
In this paper we present a driving system and control method of newly developed spherical ultrasonic motor (SUSM) as a camera actuator for pipe inspection robot. The pipe inspection robot using SUSM that is very small actuator with three rotational degrees of freedom (DOF) can be inserted to the inside of pipe of 50 mm in diameter. The novel SUSM has improved the range of movement compared to previous SUSM and the robot can point a camera in any direction. The compact motor driving circuit which can be inserted in pipe was also developed. We determined a method of rotational direction and control strategy from the kinematics and characteristics of ultrasonic motor. The rotational directions were defined by the phase differences of applied voltages, and the rotational speed were changed by the frequencies from the driving circuit. In the control experiment using a small position sensing system using rotary potentiometers, the driving system composed of SUSM, driving circuit, and the sensing system have shown the returnability to the default position within 1 degree of accuracy from several specified points.
DOI：
10.1109/aim.2003.1225534
发表时间：
2003-07
期刊：
Proceedings 2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2003)
影响因子：
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作者：
E. Purwanto;S. Toyama
通讯作者：
E. Purwanto;S. Toyama