Development of A New-In-pipe Locomotive Mechanism Using Piezoeletric Bimorph

압전 바이모프를 이용한 새로운 구조의 관내 이동메커니즘 개발

A new in-pipe locomotive mechanism is developed using piezoelectric bimorphs. Two bimorphs are linked serially and produce an ellipsoidal motion at the end of bimorph. The device moves by the friction force between the rubber attached at the bimorph end and the inner surface of the pipe. The developed mechanism is very simple and need relatively small power compared to a conventional multi-layer piezoelectric motor.