Study on micro-robot in small pipe

Millimeter size machines based on modern precision machining have potential application. Specially in case of small pipe which diameter is smaller than I inch, it is required to develop new type micro robot for inspection and maintenance. Considering of the advantages of electromagnet type actuators with high response, controllable, long stroke, simple mechanism and easy fabrication,we do try to develop a micro robot in pipe based on electromagnet. This paper describes the structure and design. The dimension of prototype is Phi 15 x30mm, weight is 25g. It can climb in small pipe of Phi 20mm with speed 2.5-4mm/s under applied votage 8-12voltand frequency 30-70Hz.