Abstract
A micro inspection robot for 1-incn pipes was developed. The robot can undertake visual inspections inside piping and collect small objects. It is 110 [mm] long, has an external diameter of 23 [mm], and weighs 16 [g] . The robot is equipped with a high-quality micro CCD camera and a two-digit hand for manipulating small objects in pipes. It is propelled by a micro electromagnetic motor. The wheels, which are driven by planetary reduction gears and worm gears, press against the pipe wall and enable the robot to travel inside even in vertical pipes and curved pipes. It travels at a speed of about 6 [mm/s] and the pulling force exerted is approximately 1 [N] . In this report the robot system, the various micro technologies used in the development of the robot, including the micro actuator, micro reduction gears, micro robotics hands, and micro CCD camera, and the specifications of the robot are presented.
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