管内検査ロボットの研究 : 第4報, 超磁わい素子を用いた微小管内移動マイクロロボットの機構と制御

概要

論文の詳細を見る
This paper deals with a small in-pipe mobile robot using the giant magnetostrictive alloy as actuators, which does not require any power supply codes. This cordless mobile robots can be controlled by the magnetic field supplied by the outer side. The mechanisms of the motions are based on the inch worm type of mobile mechanisms. In this paper, two mechanisms are shown: (1) the reversible motion and (2) the one-way motion mechnisms. The sizes of the robots are 21mm in diameter for the reversible motion and 6mm in diameter for the one way motion. The motion is controlled by the regulated motion of the outer electro-magnetic coil, so that the in-pipe mobile robot can follow the outer coil. This small mobile robot has many possible applications for the small pipe inspections, bio-medical fields and others.
一般社団法人日本機械学会の論文
1991-05-25