Microbionic and peristaltic robots in a pipe

doi：

10.1007/BF02884975

Abstract：

A microbionic and peristaltic robot that simulates the motion of an earthworm to move within a micropipe is proposed. The robot consists of three flexible units. Each unit is composed of two plates connected with three shape memory alloys (SMA) 120°apart, the rubber gasbag around the SMA wires inflated with air inside. Each unit corresponds to a segment of an earthworm, and the SMA and rubber gasbag have the same functions as the cricoid and longitudinal muscles of the earthworm. A control system is designed to fulfill the control of the three flexible units motions, such as stretching, shrinking and bending, so the microrobot can walk forward and backward, and choose the direction.

作者：
Author：	MA Jianxu[1]  LI Mingdong[1]  MA Peisun[1]  LIU Xiang[2]  MA Jianhua[3]
作者單位：	School of Mechanical Engineering, Shanghai Jiaotong University, Shanghai 200030, China Pericom Technology Co. Ltd., Shanghai 200233, China Pingquan Normal College, Pingquan 067500, China
期 刊：	科學通報（英文版）   SCI
Journal：	CHINESE SCIENCE BULLETIN
年，卷(期)：	2000, 45(11)
分類號：	O4
Keywords：	microrobot    simulating earthworm    soft pipe
機標分類號：	U6 TH7
機標關鍵詞：	shape memory alloys    control system
基金項目：