Development of chain-type micromachine for inspection of outer tube surfaces (basic performance of the 1st prototype)

Using micromachine technology, we have developed the first prototype of a multiple distributed micromachine system, in which a micromachine can be driven in both the horizontal and vertical directions and automatically connect to and disconnect from adjacent micromachines. The developed micromachine is the world´s smallest machine (width: 9 mm, length: 5 mm, height: 6.5 mm, weight: 0.42 g) that can travel in both the horizontal and vertical directions. This paper gives an overview of the prototype and its travel and connection/disconnection performance. The following conclusions were obtained: (1) The developed magnetic wheel-driven micromachine is able to travel both horizontally and vertically. (2) Automatic connection and disconnection are realized by using newly developed microconnectors