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JRM Vol.17 No.3 pp. 255-261
doi: 10.20965/jrm.2005.p0255
(2005)

Paper:

A Study of an In-Pipe Microrobot Having Bulging Friction Brakes

Manabu Ono*, Manabu Otsuki**, and Shigeo Kato**

*Tokyo Metropolitan College of Technology, 1-10-40 Higashi-Oi, Shinagawa, Tokyo 140-0011, Japan

**Nippon Institute of Technology, 4-1 Gakuendai, Miyashiro, Saitama 340-8501, Japan

Received:
October 18, 2004
Accepted:
March 14, 2005
Published:
June 20, 2005
Keywords:
bulging friction brake, modeling, fabrication, microrobot, pneumatic bellows actuator
Abstract

We discuss fabrication of a new microrobot consisting of two outer stabilizers structured by a rubber bellows having four or six rubber bulging rubber friction brakes and a center mover that drives the microrobot by expanding and contracting. We studied friction generated by friction brakes modeled as a simple beam fixed at both ends. Friction generated by stabilizer is confirmed to be predictable. The fabricated microrobot moves in a pipe in which the friction factor is 0.34, confirmed by navigating a porcine intestine.

Cite this article as:
Manabu Ono, Manabu Otsuki, and Shigeo Kato, “A Study of an In-Pipe Microrobot Having Bulging Friction Brakes,” J. Robot. Mechatron., Vol.17, No.3, pp. 255-261, 2005.
Data files:
References
  1. [1] S. Kato, and M. Shirakawa, “An Ultra High-speed In-pipe Microrobot Movable in the Small Intestine of Pig,” Proc. of 30th International Symposium on Robotics, pp. 763-768, 1999.
  2. [2] S. Kato, M. Shirakawa, M. Ono, and M. Tabata, “Fabrication of a Microrobot Movable in the Small Intestine of a Pig,” Proc. of American Society for Precision Engineering 1999 Annual Meeting, pp. 204-207, 1999.
  3. [3] M. Ono, E. Arakaea, S. Kyomine, and S. Kato, “Fabrication of a Microrobot Movable in a Free Held Pig’s Small Intestine,” Proc. of the European Society for Precision Engineering and Nanotechnology 2nd International Conference, Vol.2, pp. 806-809, 2001.
  4. [4] L. Phee, C. Stefanini, A. Arena, D. Accoto, A. Menciassi, G. Pernorio, M. Boccadoro, and P. Dario, “Mechanical Clamping Mechanisms for Locomotion in the Gastrointestinal Tract,” Proc. of the European Society for Precision Engineering and Nanotechnology 2nd International Conference, Vol.2, pp. 770-773, 2001.
  5. [5] M. Ono, and S. Kato, “A New Model of Movable Mechanism in Flexible Pipes like the Large Intestine,” Proc. of the International Association of Science and Technology for Development International Conference Applied Modelling and Simulation, pp. 62-66, 2002.

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