Study on micro-robot in small pipe

Millimeter size machines based on modern precision machining have potential applications. Especially in the case of a small pipe with diameter smaller than 1 inch, it is required to develop a new type micro robot for inspection and maintenance. Considering the advantages of electromagnet type actuators with high response, controllable, long stroke, simple mechanism and easy fabrication, we try to develop a micro robot in a pipe based on an electromagnet. The paper describes the structure and design. The dimension of prototype is Φ15×30 mm, weight is 25 g. It can climb in small pipe of φ20 mm with speed 2.5-4 mm/s under applied voltage 8-12 volt and frequency 30-70 Hz