Abstract
This paper describes a moving characteristics of in-pipe mobile microrobot driven by pneumatic pressure and elastic force of a spring. This robot consists of a bellows actuator and friction rings of robot's foot. The bellows actuator is structured by rubber bellows and spring which is inserted in the bellows. The pneumatic pressure is used to stretch and the spring is used to shrink an actuator of the microrobot. The friction ring converts the stretch motion and shrink motion into the advancement drive. We confirmed to move in 26mm inner diameter pipe and characteristics of relationship between moving speed and distance of air feeding tube.
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