Influence of Similarity Law on Movement Characteristics of Vibration Actuator
Influence of Similarity Law on Movement Characteristics of Vibration Actuator
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DOI：
10.5539/mer.v8n2p1
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发表时间：
2018-07
期刊：
影响因子：
--
通讯作者：
H. Yaguchi;Yusuke Itoh
中科院分区：
文献类型：
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作者：
H. Yaguchi;Yusuke Itoh
目前，工厂采用带式输送机或自动导向车作为输送设备。但是，在这些装置中，吊顶面和墙面的运输是不可能的。电梯用于从下层到上层的输送。因此，能够在墙壁和天花板上移动的输送装置大大提高了工作效率。基于这种背景，需要开发能够在壁面上运输的工作机器人。在本研究中，再次考虑了结构非常简单的振动作动器，该作动器可以借助振动模型的惯性力在磁性物质上运动。此外，还考虑了对作动器进行大型化以改善推进特性。根据相似法则，增大构成作动器振动部件的永磁体体积。对四种驱动频率近似相等的作动器进行了样机设计和实验测试。实验结果表明，在标准模型下，作动器的最大自重牵引效率为27.1%。此外，执行器能够拉动170克的负载质量。对于5倍型号的执行器，执行器能够在拉动3500 g负载质量的情况下以9.5 mm/s的速度向上爬升。该驱动器能够推动的负载质量约为驱动器本身重量的36倍。
Currently, a belt conveyor or an automatic guided vehicle is used as a conveying device in a factory. However, Transportation of the ceiling surface and the wall surface in these devices is impossible. Elevator is used for conveying from the lower floor to the upper floor. Therefore, the conveying device capable of movement on a wall and a ceiling significantly improves the efficiency of work. Based on this background, development of working robots capable of transporting on a wall surface is required. In the present study, the vibration actuator with a very simple structure capable of movement on a magnetic substance by means of the inertial force of a vibration model was again considered. Furthermore, upsizing for the actuator in order to improve the propulsion characteristics was considered. The volume of the permanent magnet constituting the vibration component of the actuator was increased according to the similarity rule. Four models of actuator with approximately equal drive frequency were prototyped and experimentally tested. The experimental results demonstrate that the maximum efficiency of the actuator for a standard model pulling its own weight was 27.1 %. Furthermore, the actuator is able to pull a load mass of 170 g. For the actuator of 5 times model, the actuator is able to climb upward at 9.5 mm/s while pulling a load mass of 3500 g. This actuator is able to propel a load mass of approximately 36 times the weight of the actuator itself.