Improvement of characteristics of in-pipe micro robot

摘要

This paper describes improvement of structure design based on previous study. The new micro robot with electromagnetic actuator possesses two opposite leg-sets mounting around main body instead of unidirectional mounting of old type. The moving speed characters of the new robot and other two small micro robots are studied. The new prototype can climb in a /spl phi/20 mm pipe forward or backward by applied voltage with different frequency.