Development of spherical ultrasonic motor as a camera actuator for pipe inspection robot
Development of spherical ultrasonic motor as a camera actuator for pipe inspection robot
复制标题
DOI：
10.1109/iros.2009.5354315
复制
发表时间：
2009-10
期刊：
影响因子：
--
通讯作者：
M. Hoshina;T. Mashimo;S. Toyama
中科院分区：
文献类型：
--
作者：
M. Hoshina;T. Mashimo;S. Toyama
我们提出了一种管道检测机器人使用新开发的球形超声波电机（SUSM）作为摄像头驱动器。与以前的SUSM相比，新的SUSM提高了运动范围，机器人可以将相机指向任何方向。本研究从超音波马达的运动学与特性出发，探讨超音波马达的旋转方向控制与策略控制方法。旋转方向由施加电压的相位差定义，旋转速度随频率而变化。此外，我们开发了一个非常小的位置传感系统，使用旋转电位器。在使用传感系统进行的对照实验中，SUSM显示出从几个指定点到默认位置的可返回性，精度为1°。
We present a pipe inspection robot using a newly developed spherical ultrasonic motor (SUSM) as a camera actuator. The novel SUSM has improved the range of movement compared to previous SUSMs, and the robot can point a camera in any direction. In this study, we determined a method for controlling the rotational direction and strategic control from the kinematics and characteristics of ultrasonic motors. The rotational directions were defined by the phase differences of the applied voltages, and the rotational speeds were changed with the frequencies. Additionally, we developed a very small position sensing system using rotary potentiometers. In the control experiment performed using the sensing system, the SUSM showed the returnability to the default position from several specified points, within an accuracy of 1°.