A novel globular magnetic actuator for movement inside complex pipe

This paper proposes a novel globular magnetic actuator that exhibits a very high thrusting force and is capable of movement inside a complex pipe. This actuator consists of a body of an acrylic ball, a propulsion module inserted into the acrylic ball, and a compound material. The globular magnetic actuator is moved by difference in frictional force between forward and backward supporting force of the compound material. Experimental result shows that the globular magnetic actuator can move upwards at a speed of 70 mm/s when inner diameter of the pipe is 25 mm. The measurements of speed carried out for two patterns inside an elbow and U-joint pipe with step part. This globular magnetic actuator demonstrates that the actuator can stably move inside the complex pipe without rotational motion of the body. This globular magnetic actuator has many possible applications, including inspection and maintenance of the pipes.