Design and Control of a Novel Type of Microrobot Moving in Pipe

In this paper, to realize practical micromachines using fluid power with high power density. It is our purpose to develop a motion control system to manipulate a wireless microrobot, which can perform in blood vessel by using magnetic field from out of human body. Base on this purpose, a new novel type moving microrobot in pipe has been designed and introduced in this paper. The microrobot model utilizes an electromagnetic actuator as the servo actuator to realize the moving motion for biomedical application. We discuss the structure, motion mechanism and characteristic evaluation of a driving fin, which be in charge of propulsion. The fin moving like fish can be controlled by the frequency adjustment of the alternate magnetic field. The microrobot can be stopped at the place where we want in vertical direction. Experimental results indicate that the microrobot can be controlled upward, downward and also suspend in water by frequency adjustment. The developed microrobot has characteristics of quick response, can correspond to the dirt adhering to the inner wall. To sum up, it will play an important part in industrial application and microsurgery