This paper proposes a novel globular magnetic actuator that exhibits a very high thrusting force and is capable of a movement inside a complex pipe. This actuator consists of a body of an acrylic ball, a propulsion module inserted into the acrylic ball and a compound material. The globular magnetic actuator is moved by difference in frictional force between forward and backward supporting force of the compound material. The measurements of a speed carried out for two patterns inside an elbow pipe with step part. Experimental result shows that the globular magnetic actuator can move upwards at a speed of 70 mm/s when inner diameter of the pipe is 25 mm.
展开▼
