Magnetic Actuator Group of Globular Type Capable of Free Movement in a Complex Pipe

Magnetic Actuator with Multiple Vibration Components Arranged at Eccentric Positions for Use in Complex Piping

“…In this condition, the actuator rotated in a clockwise direction, as shown in Figure 7. This actuator can turn in a counter-clockwise direction by changing the phase between vibration components by 180˝, as shown in a previous study [16]. Thus, the magnetic actuator undergoes linear and rotational movement based on the difference in frictional force between the forward and backward movement of the compound material.…”

“…The principle of linear locomotion for this magnetic actuator was demonstrated in a previous study [16]. The frictional force between the compound material and the pipe wall changes alternately during one period of vibration, as shown in Figure 6a All vibration components were driven at the same frequency.…”

“…The mechanisms include devices using piezoelectric elements [5,6], shape-memory alloys [7,8], external magnetic fields [9][10][11], and electromagnetic motors [12][13][14]. An actuator combined with an electromagnetic force and mechanical vibration was previously proposed by the authors [15][16][17][18][19]. However, robots capable of inspection in a pipe with an inner diameter of 25 mm have not yet been developed except in a small study [20].…”

Effect of Electrical Cable on Movement-Range of Agnetic Actuator System Capable of Inspection in a Pipe

“…Using the main component of the robot and a very simple device, No system capable of inspection of complex pipes using just the main component of the robot and a very simple device has yet been reported. The authors [13,14] previously proposed a novel magnetic actuator that provides propulsion by a new motion principle. In particular, the actuator shown by Yaguchi et al [15] can move in a complex pipe with a T-junction and steps.…”

A Novel tele-operation controller for wireless microrobots in-pipe with hybrid motion

“…As the size limitation of the microrobot, the actuation part including the power source is difficult to integrate into the microrobot. Therefore, several actuation mechanisms have been developed and used to propel the microrobot from a remote site, which are used for providing locomotion in the pipe such as piezoelectric elements 4,5 , air cylinders 6 , electrorheological fluids 7 , shape memory alloys 8,9 , electromagnetic motors [10][11][12][13][14] , and globular magnetic actuator capable of locomotion in a pipe by combination of mechanical vibration and electromagnetic force 15,16 . Honda developed a new kind of wireless swimming robot with a tail fin which can swim in one direction 17 .…”