NDLI: A new kind of microrobot in pipe using driving fin

Content Provider	IEEE Xplore Digital Library
Author	Shuxiang Guo Sasaki, Y. Fukuda, T.
Copyright Year	2003
Description	Author affiliation: Dept. of Intelligent Mech. Syst. Eng., Kagawa Univ., Takamatsu, Japan (Shuxiang Guo; Sasaki, Y.)
Abstract	In the medical field and in Industry application, a new type of microrobot in pipe that can move smoothly in water or aqueous medium has urgently been demanded. It is our purpose to develop a fine type of microrobot in pipe that has the characteristics of flexibility, driven by wireless, good response and safety in body. In this paper, we propose a new prototype model of microrobot utilizing electromagnetic actuator as the servo actuator to realize moving motion. The moving fin driven by a permanent magnet can be controlled by the frequency adjustment of the electromagnetic field. To the microrobot, which built a prototype, the running experiment was conducted and the operating characteristic was evaluated. It turns out that developed microrobot can correspond to the dirt adhering to the inner wall, or long distance movement by the experiment result, and speed control can be easily performed by frequency adjustment.
Sponsorship	IEEE Ind. Electron. Soc.(IES) IEEE Robotics & Autom. Soc. (RAS) ASME Dynamic Syst. & Control Div. (DSC)
Starting Page	697
Ending Page	702
File Size	667571
Page Count	6
File Format	PDF
ISBN	0780377591
DOI	10.1109/AIM.2003.1225428
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2003-07-20
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Prototypes Actuators Frequency Industry applications Safety Electromagnetic modeling Servomechanisms Permanent magnets Electromagnetic fields Velocity control
Content Type	Text
Resource Type	Article

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