A computationally efficient model to capture the inertia of the piezoelectric stack in impact drive mechanism in the case of the in-pipe inspection application
Jin Li,Chang Jun Liu,Xin Wen Xiong,Yi Fan Liu,and Wen Jun Zhang
Jin Li
The Complex and Intelligent System Research Center, School of Mechanical and Power Engineering, East China University of Science and Technology, Meilong Road 130, Shanghai, 200237, China
The Complex and Intelligent System Research Center, School of Mechanical and Power Engineering, East China University of Science and Technology, Meilong Road 130, Shanghai, 200237, China
Xin Wen Xiong
The Complex and Intelligent System Research Center, School of Mechanical and Power Engineering, East China University of Science and Technology, Meilong Road 130, Shanghai, 200237, China
Yi Fan Liu
Robotic Systems Laboratory, Ecole Polytechnique Fédérale de Lausanne (EPFL), C/o Nicolas Cantale Avenue de prefaully 56, 1020 Lausanne, Switzerland
Our work mainly focuses on the dynamic modeling of a piezoelectric actuator (PA) in the impact drive mechanism in the case of the in-pipe inspection application. The novel model we have developed is able to capture the inertia of the PA and the feature of this model is its computational efficiency with reasonable accuracy. This study has concluded that the inertia of the PA in such a robot can significantly affect the accuracy of the entire model of IDM.
Our work mainly focuses on the dynamic modeling of a piezoelectric actuator (PA) in the impact...
