A Novel Mobile Microrobot Fin for In-Pipe Inspection
Shuxiang Guo*, Yasuhiro Sasaki*, and Toshio Fukuda**
*Dept. of Intelligent Mechanical Systems Engineering, Kagawa University, 2217-20, Hayashi-cho, Takamatsu, 761-0396, Japan
**Department of Micro System Engineering Nagoya University, Furo-cho, Chikusa-ku, Nagoya 464-8603, Japan
Development of a microrobot fin for in-pipe inspection, that is, flexible, driven wirelessly, having good response, and being safe, is described. The microrobot uses an electromagnetic actuator as the servo actuator to realize movement. The structure, motion mechanism, and evaluation of a driving fin are discussed. The fin driven by a permanent magnet is controlled by frequency adjustment of an alternate magnetic field. Microrobot speed is measured by changing the frequency of input current from 5 Hz to 300 Hz. Experimental results showed that a maximum speed of 42 mm/s is possible. The microrobot is compact, responds quickly, it can correspond to the dirt adhering to the inner wall, or long distance movement, and running speed control can be easily performed by changing frequency. It is useful for in-pipe inspection in industrial application and for minimally invasive microsurgery.
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