A Novel Actuator System Combining Mechanical Vibration and Magnetic Wheels Capable of Rotational Motion Using Shape Memory Alloy Coils
A Novel Actuator System Combining Mechanical Vibration and Magnetic Wheels Capable of Rotational Motion Using Shape Memory Alloy Coils
复制标题
DOI：
10.3390/act8010004
复制
发表时间：
2019-01
期刊：
影响因子：
2.6
通讯作者：
H. Yaguchi;I. Kimura;S. Sakuma
中科院分区：
文献类型：
--
作者：
H. Yaguchi;I. Kimura;S. Sakuma
在每个国家，诸如斜拉桥之类的大型钢桥正在积极地建造，并且这种桥梁的数量已经逐渐增加。这些桥梁经常使用无人机进行检查，但由于强风和雷声，检查技术尚未建立。因此，需要能够在困难环境中工作的机器人。在本研究中，一个原型的旋转致动器系统相结合的两个铁盘和两个电磁振动型致动器制造。开发了一种新的操作原理，该原理利用振动型致动器的反作用力来驱动系统。两个形状记忆合金线圈和两个摩擦垫被集成到系统中，使其能够进行车削操作，并已成功演示。因此，所提出的致动器系统可以在任何方向上移动。此外，利用该致动器系统，天花板上滑动和爬壁运动都是可能的。
In every country, large steel bridges, such as cable-stayed bridges, are actively being constructed, and the number of such bridges has been progressively increasing. These bridges are often inspected using drones, but inspection techniques have not been established because of strong winds and thunder. Therefore, robots capable of working in difficult environments are desired. In the present study, a prototype of a rotary actuator system combining two iron disks and two electromagnetic-vibration-type actuators was fabricated. A new operation principle was developed that drives the system using the reaction force of the vibration-type actuator. Two shape memory alloy coils and two friction pads were integrated into the system to enable it to carry out turning operations, which were successfully demonstrated. The proposed actuator system can thus move in any direction. In addition, with this actuator system, both slide-on-ceiling and wall-climbing motions are possible.