F-0441 水圧を利用した管内走行ロボットの機構開発(S38-5 ロボティクスにおける機構の開発とシミュレーション)(S38 機構の開発とシミュレーション)

概要

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In this paper we develop in-pipe mobile robot assuming to run in the blood-vessel. Therefore, the transfer form using the wheel would not be used, and the mechanism for the transfer by the peristalsis is adopted. And, it is not used the result which the actuator operates using the electric power. The actuator which moved by the water pressure is adopted. The robot is manufactured from the above design condition actually, and the operation is confirmed by the experiment. The experiment which run the human intravenous is not done, but it is confirmed that produced robot moved in straight pipe made of the acrylic resin of the 6mm inside diameter at 4.4[mm/s] speed.
一般社団法人日本機械学会の論文
2001-08-22