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Etude et réalisation d'un module de locomotion pour microrobot d'inspection intratubulaire. Actionnement par fils AMF d'un cadre forcé en post-flambement à deux états d'équilibre stable

Abstract : The work presented here constitutes an outline of the various studies necessary to develop a new autonomous in-tube exploration microrobot. Constituted by five identical locomotion modules, the future microrobot shall inspect networks of industrial tubes, of diameter lower than 15 mm, and presenting bends and forks. Judicious actuation of the various modules will allow its progression inside the tube, with the manner of the earth-worm. Our efforts focused on the study, the manufacture and the development of the locomotion module, while seeking to optimize the parameter 'displacement speed' of the future microrobot. This actuator, of original design, is constituted by a postbuckled frame, presenting two states of stable equilibrium, and whose rock up from one state to the other is controlled by shape memory alloy wires (SMA). A theoretical study of the equilibrium state and a simplified static model using the finite elements method, taking into account large postbuckling displacements, during the loading driving to the rock, helped us to size the frame and to choose the material. Then, mechanical characterization tests carried out on a higher scale prototype of the module, were necessary to adjust educated SMA wires. Joule effect being the means of heating which was retained to generate the shortening of these wires, we evoke some aspects related to the module control, and to the checking of SMA transformation by the measurement of their electric resistance. Lastly, an experimental study of the contact behavior of one module allows us to evaluate the influence of various parameters on the support conditions of the robot inside a vertical tube. We then deduce the possibilities of embarked load by the future microrobot, in the purpose to fit it with sensors and electric power generators necessary to its autonomy.
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https://tel.archives-ouvertes.fr/tel-00743582
Contributor : Christine Rotinat-Libersa Connect in order to contact the contributor
Submitted on : Friday, October 19, 2012 - 2:49:16 PM
Last modification on : Thursday, February 17, 2022 - 10:08:03 AM
Long-term archiving on: : Sunday, January 20, 2013 - 3:40:12 AM

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  • HAL Id : tel-00743582, version 1

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Christine Rotinat-Libersa. Etude et réalisation d'un module de locomotion pour microrobot d'inspection intratubulaire. Actionnement par fils AMF d'un cadre forcé en post-flambement à deux états d'équilibre stable. Génie mécanique [physics.class-ph]. Université de Poitiers, 2001. Français. ⟨NNT : 2001POIT2277⟩. ⟨tel-00743582⟩

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