A New Model of Movable Mechanism in Flexible Pipes like the Large Intestine

M. Ono and S. Kato (Japan)


Microrobot, Pneumatic-pressure


This paper describes a modeling and an experimental simulation of a movable mechanism in flexible pipes like the large intestine. The moving mechanism is structured by two holding elements and a moving element driven by pneumatic and vacuum pressure. The holding element has a braking mechanism which consists of eight bulging rubber sheets. The moving principle of the mobile moving mechanism was modelled. It was confirmed by the experiment that the moving mechanism can move to the forward and backward direction in the flexible pipe like the intestine. The mobile moving mechanism was confirmed to move at the speed of 39 [mm/s]. Flexible-pipe, Large-intestine,

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