Modelling of an Artificial Earthworm Type Mobile Inspection Microrobot Movable in Small Diameter and Long Pipes

M. Ono and S. Kato (Japan)


Modelling, Artificial-earthworm, Microrobot, Long-pipes


This paper describes a modelling of an artificial earthworm type microrobot. The microrobot is constructed by three bellows for the pneumatic actuators, friction rings and three electromagnetic valves. We modelled the force balance of the microrobot, mass flow rate through the electromagnetic valve, the force generated in the bellows. The movement of the microrobot was simulated by the model.

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