A study of a pipe inside mover with elastic bristles. Mechanism and fundamental performance.

Development of flexible ciliary actuators and their application to mobile robots

“…When dr is sufficiently small, S s can be approximated by a constant. In this case, the total volume change is equal to 4{(r+dr) 3 -r 3 }/3, which is much larger than S s dr, as shown in Fig. 2.…”

“…For the purpose of smooth bag extension by sliding the bent part, the bag is trapezoidal. The inner volume of the cilium part is 12×10 -6 mm 3 , and the maximum load capacity is 120 g if each actuator is supplied with a pressure of 0.02 MPa. Although this first prototype actuator moved successfully, the elastic string produces an additional driving force on the flexible bag, which reduces efficiency and decreases durability.…”

“…However, almost all previous studies of ciliary actuator adopt body motion and with elastic cilium. For example, Yamamoto et al proposes elastic cilium and it is moved by the body [3]. Tadokoro also adopts this principle with dense cilium arrangement for narrow terrain [4].…”

Bidirectional Moving Principle of A Wireless Micro Robot Based on Giant Magnetostriction Actuator

“…Potentio meter Fig .1 General structure diagram of the robot's experimental system ersonic sensor(1), magnetic system(2), micro robot (3), pipe(4), step motor(5), screw(6), Potentio meter (7).…”