Study on robots with PZT actuator for small pipe

This paper presents two kinds of experimental microrobot with PZT actuator for small pipe. The first one is with stacked PZT actuator for climbing /spl phi/ 10 mm pipe; this robot can carry a microgripper. The other one is with bimorph PZT actuator for climbing /spl phi/ 20 mm pipe; it can carry a CCD camera for detecting cracks or fine holes on inner wall of pipe. These two kinds of robots can move in vertical pipe up/down at speed of 4-6 mm, 17-22 mm/s, respectively. Moving principle, structure design and performance characteristics were presented in the paper.