Abstract
It is our purpose to develop a novel fin type of microrobot in pipe that has the characteristics of flexibility, driven by wireless, good response and safety in body. This paper proposes a novel fin type of model microrobot utilizing electromagnetic actuator as the servo actuator to realize moving motion for biomedical application. We also discuss the structure, motion mechanism and characteristic evaluation of a driving fin. The moving fin driven by a permanent magnet can be controlled by the frequency adjustment of the alternate magnetic field. The running speed of the microrobot has been measured in vertical direction and at turning point by changing the frequency of input current. Experimental results showed that the maximum running speed 40mm/s could be obtained in vertical direction. The developed microrobot has characteristics of compact volume, quick response, can correspond to the dirt adhering to the inner wall, or long distance movement, and running speed control can be easily performed by frequency adjustment. It will be very useful for industrial application and for microsurgery.
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