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JRM Vol.11 No.5 pp. 417-422
doi: 10.20965/jrm.1999.p0417
(1999)

Paper:

In-pipe Mobile Micromachine Using Fluid Power Adaptable to Pipe Diameters

Kazuhiro Yoshida*, Ken Takahashi**, and Shinichi Yokota*

*Precision and Intelligence Laboratory

**Graduate School, Tokyo Institute of Technology, 4259 Nagatsuta-cho, Midori-ku, Yokohama 226-8503, Japan

Received:
May 19, 1999
Accepted:
June 4, 1999
Published:
October 20, 1999
Keywords:
micromachine, fluid machinery, moving robot, actuator, in-pipe mobile machine, pipe-diameter change, toggle mechanism
Abstract

To realize maintenance microrobots for low-diameter pipes of nuclear reactors and electric power plants requires high-power in-pipe mobile micromachines. We proposed a bellows microactuator using fluid power and applied actuators to in-pipe mobile micromachines. Previous papers have described mobile inchworm prototypes 25mm in diameter and travel performance. To miniaturize the in-pipe mobile machine and adapt it to pipe diameters, a support mechanism using a toggle and adaptable to pipe diameters was proposed and support force clarified. We proposed a simple rubber-tube microactuator constrained with a coil spring and described static features. We fabricated a mobile micromachine for pipes 4-5mm in diameter that traveled at 7mm/s both forward and backward.

Cite this article as:
Kazuhiro Yoshida, Ken Takahashi, and Shinichi Yokota, “In-pipe Mobile Micromachine Using Fluid Power Adaptable to Pipe Diameters,” J. Robot. Mechatron., Vol.11, No.5, pp. 417-422, 1999.
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