中文摘要：

设计了一种以压电双层膜为基本结构，通过惯性冲击原理达到运动驱动目的的管内移动机器人。该机器人主要由一个典型的压电双层膜结构和惯性质量串联构成。工作时，压电双层膜的变形由惯性冲击转化为整体结构的直线位移。从理论上分析了惯性冲击原理的核心问题：惯性冲击力与管壁和机器人之间摩擦力的关系，并通过MATLAB和AN—SYS等软件对整个系统的动态响应做了仿真。相关的验证表明，所设计的管内移动机器人运动步长可以达到0．15μm，具有精密运动和高效率的优点，可以在工业中广泛应用。

英文摘要：

A piezoelectric in-pipe micro robot with bimorph structure and actuated by the Impact Drive Mechanism（IDM） theory is presented in this paper. The basic structure of this actuator is composed of two piezoelectric bimorph sheets and an inertia mass connected in series. While operating, the deflection of the two piezoelectric bimorph sheets is translated into linear movement by the IDM to com- plete the system actuation. As the essence of the IDM theory, the relationship between the inertia impact force generated by the deflection of the bimorph sheets and the friction between moving body and pipe inwall is analyzed theoretically. Then, the dynamic performance of the system is simulated both by MATLAB and by ANSYS. The results show that the step displacement could be minified to 0.15 μm, and the proposed actuator is higher accurate and higher efficient for medical and industrial applications.