Theoretical analysis and simulation on the principle of inertia drive mechanism

Pinkuan Liu; Lining Sun; Tao Liu; Shanqiang Wu

Theoretical analysis and simulation on the principle of inertia drive mechanism

Pinkuan Liu^*
, Lining Sun
, Tao Liu
, Shanqiang Wu

^*Corresponding author for this work

School of Mechatronics Engineering

Harbin Institute of Technology
Technical University of Braunschweig
Kochi University of Technology

Research output: Contribution to journal › Article › peer-review

2 Scopus citations

Abstract

The dynamic formulation of micro robot based on Impact Drive Mechanism (IDM) was established by Lagrange method, and the solution and simulation of the model were presented. By vising Finite Element Method (FEM), the analysis on modal and transient of the robot mechanics were carried out. In the above two methods of analysis, the coupling problems about mechanics and electric field of piezoelectric bimorph and the contact friction model between robot feet and pipes were taken into account. The theory of Impact Drive Mechanism (IDM) is proved through comparing the results of two analysis methods, and the feasibility of pipe motion micro robot adopting the IDM theory is proved.

Original language	English
Pages (from-to)	2217-2221
Number of pages	5
Journal	Zhongguo Jixie Gongcheng/China Mechanical Engineering
Volume	15
Issue number	24
State	Published - 25 Dec 2004

Keywords

Coupling field
Dynamic equation
FEM
IDM

Cite this

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title = "Theoretical analysis and simulation on the principle of inertia drive mechanism",

abstract = "The dynamic formulation of micro robot based on Impact Drive Mechanism (IDM) was established by Lagrange method, and the solution and simulation of the model were presented. By vising Finite Element Method (FEM), the analysis on modal and transient of the robot mechanics were carried out. In the above two methods of analysis, the coupling problems about mechanics and electric field of piezoelectric bimorph and the contact friction model between robot feet and pipes were taken into account. The theory of Impact Drive Mechanism (IDM) is proved through comparing the results of two analysis methods, and the feasibility of pipe motion micro robot adopting the IDM theory is proved.",

keywords = "Coupling field, Dynamic equation, FEM, IDM",

author = "Pinkuan Liu and Lining Sun and Tao Liu and Shanqiang Wu",

year = "2004",

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day = "25",

language = "英语",

volume = "15",

pages = "2217--2221",

journal = "Zhongguo Jixie Gongcheng/China Mechanical Engineering",

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TY - JOUR

T1 - Theoretical analysis and simulation on the principle of inertia drive mechanism

AU - Liu, Pinkuan

AU - Sun, Lining

AU - Liu, Tao

AU - Wu, Shanqiang

PY - 2004/12/25

Y1 - 2004/12/25

N2 - The dynamic formulation of micro robot based on Impact Drive Mechanism (IDM) was established by Lagrange method, and the solution and simulation of the model were presented. By vising Finite Element Method (FEM), the analysis on modal and transient of the robot mechanics were carried out. In the above two methods of analysis, the coupling problems about mechanics and electric field of piezoelectric bimorph and the contact friction model between robot feet and pipes were taken into account. The theory of Impact Drive Mechanism (IDM) is proved through comparing the results of two analysis methods, and the feasibility of pipe motion micro robot adopting the IDM theory is proved.

AB - The dynamic formulation of micro robot based on Impact Drive Mechanism (IDM) was established by Lagrange method, and the solution and simulation of the model were presented. By vising Finite Element Method (FEM), the analysis on modal and transient of the robot mechanics were carried out. In the above two methods of analysis, the coupling problems about mechanics and electric field of piezoelectric bimorph and the contact friction model between robot feet and pipes were taken into account. The theory of Impact Drive Mechanism (IDM) is proved through comparing the results of two analysis methods, and the feasibility of pipe motion micro robot adopting the IDM theory is proved.

KW - Coupling field

KW - Dynamic equation

KW - FEM

KW - IDM

UR - https://www.scopus.com/pages/publications/12844269948

M3 - 文章

AN - SCOPUS:12844269948

SN - 1004-132X

VL - 15

SP - 2217

EP - 2221

JO - Zhongguo Jixie Gongcheng/China Mechanical Engineering

JF - Zhongguo Jixie Gongcheng/China Mechanical Engineering

IS - 24

ER -

Theoretical analysis and simulation on the principle of inertia drive mechanism

Abstract

Keywords

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