Considerations of the performance characteristics of the cableless micro-actuator by using mechanical DC-AC inverter

This paper proposes a cableless micro-actuator that exhibits a very high thrusting force and is capable of being adapted to propel a robot within a pipe. This actuator contains a mechanical inverter that directly transforms DC from button batteries into AC. The mechanical DC-AC inverter incorporates double one- degree-of-freedom-model that switches under an electromagnetic force. It is able to move through a pipe of 8 mm inner diameter. Experimental results show that the actuator can move upwards at a speed of 17.3 mm/s. This cableless micro-actuator has many possible applications, including small pipe inspection and maintenance.