論文
腸管内を走行できるマイクロロボットの基礎実験
2007 年 73 巻 9 号 p. 1068-1073
詳細
2007 年 73 巻 9 号 p. 1068-1073
We discuss fabrication of a new microrobot consisting of two outer holding mechanisms structured by a rubber bellows having four or six rubber friction sheets and a center moving mechanism 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 holding mechanism is confirmed to be predictable. The fabricated microrobot moves in a pipe in which the friction factor is 0.65, confirmed by navigating a porcine intestine.
