Abstract: An in-pipe microrobot which moves at 10 mm/s in a pipe of 15 mm diameter without power supply wire is developed. The robot consists of a microwave energy supply device, a locomotive mechanism using a piezoelectric bimorph actuator, and a control circuit. The energy supply device consists of rectifying circuits and a compact receiving antenna. The required energy of 200 mW is supplied via microwave without wire. 14 GHz microwave is rectified into DC electric energy at a high converting efficiency of 52%. The locomotive device of multi-layered bimorph actuator is newly developed and consumes only 50 mW. The control circuit consists of a saw tooth generator and a programmable logic device, and controls the direction of the robot motion by outside light signal.!4
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机译：摘要：开发了一种管内微型机器人，该机器人可在直径为15 mm的管中以10 mm / s的速度移动而无需电源线。该机器人由微波能量供应装置，使用压电双压电晶片致动器的机车机构和控制电路组成。能量供应设备包括整流电路和紧凑的接收天线。所需的200 mW能量通过不带导线的微波提供。将14 GHz微波以52％的高转换效率整流为直流电能。多层双压电晶片致动器的机车设备是最新开发的，仅消耗50 mW。控制电路由锯齿发生器和可编程逻辑装置组成，并通过外部光信号控制机器人运动的方向。！4
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