| Mobile MicroRobotin Small Pipe Driven by ElectroMagnetic Force |
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| 作者姓名： | SUN Lin zhi SUN Ping WANG Cun min QIN Xin jie |
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| 作者单位： | School of Mechanical and Electronic Engineering，Shanghai University |
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| 摘 要： | １ Ｉｎｔｒｏｄｕｃｔｉｏｎ Ｍｉｌｌｉｍｅｔｅｒｓｉｚｅｍｉｃｒｏｍａｃｈｉｎｅｓｂａｓｅｄｏｎｍｏｄｅｒｎｐｒｅｃｉｓｉｏｎｍａｃｈｉｎｉｎｇｈａｖｅｐｏｔｅｎｔｉａｌａｐｐｌｉｃａｔｉｏｎｉｎｉｎｄｕｓｔｒｙ．Ｓｏｍｅｎａｒｒｏｗｓｐａｃｅｓｏｒｓｍａｌｌａｒｅａｓｎｅｅｄｔｈｅｓｅｍｉｃｒｏｍａｃｈｉｎｅｓｔｏｉｎｓｐｅｃｔａｎｄｒｅｐａｉｒｄｅｆｅｃｔｓ．Ｒｅｓｅａｒｃｈｅｒｓｈａｖｅｗｏｒｋｅｄｏｎｆａｂｒｉｃａｔｉｏｎｏｆｖａｒｉｅｄｖｅｈｉｃｌｅｓｗｉｔｈｗｈｅｅｌｓ，ｍｏｂ…
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| 收稿时间： | 1 July 1998 |
Mobile micro-robot in small pipe driven by electro-magnetic force |
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| SUN Lin,zhi,SUN Ping,WANG Cun,min,QIN Xin,jie.Mobile micro-robot in small pipe driven by electro-magnetic force[J].Journal of Shanghai University(English Edition),1999,3(4):308-312. |
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| Authors: | Lin-zhi Sun Ping Sun Cun-min Wang Xin-jie Qin |
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| Institution: | (1) School of Mechanical and Electronic Engineering, Shanghai University, 20 Chengzhong Road, 201800 Shanghai, China |
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| Abstract: | It is required to develop micro-machine for inspection and maintenance of defects inside small pipe with diameter smaller
than one inch. Considering the advantages of electromagnetic actuators with simple mechanism, high response, convenience to
control and fabricate, we tried to develop a new micro-robot in small pipe based on interaction principle of electromagnetic
attraction and spring force. This paper describes its structure and design. The dimension of the prototype is diameter of
15 mm, length of 30 mm and weight of 25 g. It can climb in small pipe of diameter of 20 mm with a speed of 6∼8 mm/s in horizontal
or in vertical situation.
Project supported by the Foundation of National High-Tech. Research and Development Program (863-512) and National Commission
of Science and Technology of China (512-04-12) |
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| Keywords: | micro machine micro robot pipe |
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