Author/Authors :
Ghandehari, M. Science and Research Branch - Islamic Azad University , Omidvari, M. Industrial and Mechanical Enginering Faculty - Qazvin Islamic Azad University , Nadafi, R. Space Science and Technology Institute - Amirkabir University of Technology
Abstract :
Since the issue of low diameter in-pipe inspection microrobots is particularly important in microrobotics field, in this paper, the results of a study on the various built or designed microrobots are presented. The objective of our paper is the prioritizing of in-pipe microrobots because that is an important tool in medical and industrial applications. This study , which includes 7 types of in-pipe microrobots such as Dielectric, Ionic Polymeric Metal Composite, Electromagnetic, Phase-change actuator, Piezoelectric actuator, Pneumatic actuator and Shape Memory Alloy actuator compares with some criteria such as the consuming power, response time, efficiency, dynamical modeling, producing force and manufacturing. These criteria are provided by specialists in standard organizations. In here, Fuzzy Analytic Hierarchy Process method is used for the best mechanisms determination in each field and weight of each criteria and their importance is determined. This study assists the design of a novel microrobotic system based on Fuzzy Analytic Hierarchy Process method with the design criteria consideration.
