A Study of an In-Pipe Microrobot Having Bulging Friction Brakes

摘要

We discuss fabrication of a new microrobot consisting of two outer stabilizers structured by a rubber bellows having four or six rubber bulging rubber friction brakes and a center mover that drives the microrobot by expanding and contracting. We studied friction generated by friction brakes modeled as a simple beam fixed at both ends. Friction generated by stabilizer is confirmed to be predictable. The fabricated microrobot moves in a pipe in which the friction factor is 0.34, confirmed by navigating a porcine intestine.