It is required to develop micro machine for inspection and maintenance of defects inside small pipe with diameter smaller than one inch. Considering the advantages of electromagnetic actuators with simple mechanism, high response, convenience to control and fabricate, we tried to develop a new micro robot in small pipe based on interaction principle of electromagnetic attraction and spring force. This paper describes its structure and design. The dimension of the prototype is diameter of 15 mm, length of 30 mm and weight of 25 g. It can climb in small pipe of diameter of 20 mm with a speed of 6～8 mm/s in horizontal or in vertical situation.
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