The running characteristics of a screw-principle microrobot in a small bent pipe

Author

Hayashi, Iwao ; Iwatsuki, Nobuyuki ; Iwashina, Shigeru

Author_Institution

Fac. of Eng., Tokyo Inst. of Technol., Japan

fYear

1995

fDate

4-6 Oct 1995

Firstpage

225

Lastpage

228

Abstract

This paper describes the development of a microrobot based on the screw principle, and its running characteristics in a small bent pipe. To realize running in the bent pipe, a new small wheel preloading unit, which can keep the posture of the microrobot stable in the pipe, and a head guidance unit, which can prevent interference arising between the microrobot and the inner pipe wall, were developed. With these improvements the microrobot ran successfully in a small bent pipe of 27 mm in inner diameter and of 200 mm in the radius of curvature

Keywords

force control; microactuators; mobile robots; motion control; robot kinematics; torque control; 27 mm; 34 mm/s; coil springs; driving torque; head guidance unit; in-pipe running mechanism; miniaturisation; running characteristics; screw-principle microrobot; small bent pipe; small wheel preloading unit; spiral motion; stable microrobot posture; top guide unit; torsional stiffness; traction force; Coils; Fasteners; Intelligent networks; Interference; Magnetic heads; Mobile communication; Robots; Springs; Torque; Wheels;

fLanguage

English

Publisher

ieee

Conference_Titel

Micro Machine and Human Science, 1995. MHS '95., Proceedings of the Sixth International Symposium on

Conference_Location

Nagoya

Print_ISBN

0-7803-2676-8

Type

conf

DOI

10.1109/MHS.1995.494242

Filename

494242