慣性力を利用した管内走行用ケーブルレス型磁気アクチュエータの動作特性

概要

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This paper proposes a cable-less magnetic actuator that exhibits a very high thrusting force and is capable of being adapted to propel a robot within a pipe. The actuator is moved by the difference in frictional force between the forward and backward supporting force of flexible materials. The actuator contains a mechanical inverter that directly transforms dc power from button batteries into ac power. The mechanical dc-ac inverter incorporates a double one-degree-of-freedom-model that switches under electromagnetic force. A prototype actuator containing a mechanical dc-ac inverter was fabricated, and is able to move through a pipe with an inner diameter of 8 mm. When powered by a 10-battery pack of button batteries, the actuator displayed speeds of 17.3 mm/s moving straight upward and 20.4 mm/s moving horizontally. This cable-less actuator has many possible applications, including inspection and maintenance of pipes.
2008-03-01