Commenced in January 2007
Paper Count: 30184
Design and Fabrication of a Miniature Railway Vehicle
Abstract:We present design, fabrication, and characterization of a small (12 mm × 12 mm × 8 mm) movable railway vehicle for sensor carrying. The miniature railway vehicle (MRV) was mainly composed of a vibrational structure and three legs. A railway was designed and fabricated to power and guide the MRV. It also transmits the sensed data from the MRV to the signal processing unit. The MRV with legs on the railway was moving due to its high-frequency vibration. A model was derived to describe the motion. Besides, FEM simulations were performed to design the legs. Then, the MRV and the railway were fabricated by precision machining. Finally, an infrared sensor was carried and tested. The result shows that the MRV without loading was moving along the railway and its maximum speed was 12.2 mm/s. Moreover, the testing signal was sensed by the MRV.
Digital Object Identifier (DOI): doi.org/10.5281/zenodo.1077699Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1252
 J. Okamoto, Jr., J. C. Adamowski, M. S. G. Tsuzuki, F. Buiochi, and C. S. Camerini, "Autonomous system for oil pipelines inspection," Mechatronics, vol. 9, pp. 731-743, 1999.
 K. Suzumori, T. Miyagawa, M. Kimura, and Y. Hasegawa, "Micro inspection robot for 1-in pipes," IEEE/ASME Trans. Mechatronics, vol. 4, pp. 286-292, Sep. 1999.
 H. T. Roman, B. A. Pellegrino, and W. R. Sigrist, "Pipe crawling inspection robots: An overview," IEEE Trans. Energy Convers., vol. 8, pp. 576-583, Sep. 1993.
 W. Neubauer, "A spider-like robot that climbs vertically in ducts or pipes," in Proc. IEEE/RSJ Int. Conf. Intelligent Robots, Systems, pp. 1178-1185, 1994.
 Y. P. Lee, B. Kim, M. G. Lee, and J.-O Park, "Locomotive Mechanism Design and Fabrication of Biomimetic Micro Robot Using Shape Memory Alloy," in Proceedings of the 2004 IEEE International Conference on Robotics &Automation, pp. 5007-5012, Apr. 2004.
 J. Yuh, "Design and Control of Autonomous Underwater Robots: A Survey," Autonomous Robots, vol. 8, pp. 7-24, 2000.
 B. R. Donald, C. G. Levey, C. D. McGray, I. Paprotny, and D. Rus, "An Untethered, Electrostatic, Globally Controllable MEMS Micro-Robot," Journal of Microelectromechanical Systems, vol. 15, pp. 1-15, Feb. 2006.
 K. Vollmers, D. R. Frutiger, B. E. Kratochvil, and B. J. Nelson, "Wireless resonant magnetic microactuator for untethered mobile microrobots," Applied Physics Letters, vol. 92, pp. 144103-1-3, 2008.
 U. Simu, and S. Johansson, "Analysis of quasi-static and dynamic motion mechanisms for piezoelectric miniature robots," Sensors and Actuators: A, vol. 132, pp. 632-642, 2006.
 Q. Chang-jun, M. Pei-sun, and Y. Qin, "A prototype micro-wheeled-robot using SMA actuator," Sensors and Actuators: A, vol. 113, pp. 94-99, 2004.
 J.-M. Breguet, S. Johansson, W. Driesen, and U. Simu, "A review on actuation principles for few cubic millimeter sized mobile micro-robots", in 10th International Conference on New Actuators (Actuator 2006), pp. 374-381, 2006.
 J.-M. Breguet, and R. Clavel, "Stick and Slip Actuators: design, control, performances and applications," in 1998 International Symposium on Micromechatronics and Human Science, pp. 89-95, 1998.