形状記憶合金を用いたらせん捻転管内移動の原理と検証

抄録

This paper proposes helical rotation in-pipe locomotion inspired by spirochetes, a kind of bacteria. The principle of helical rotation enables us to develop a simple and small structure to propel inside a pipe with a flexible body actuated by shape memory alloy (SMA) wires. Such a robot is expected to move inside a winding tube without a special control strategy. Furthermore its rolling motion is unlikely to damage the inner wall of a pipe and its helical shape does not stuff a pipe. This paper analyzes the motion of the elastic body that is bent and rotated by SMA wires. Based on the analysis, we develop a prototype robot by developing SMA wires that can exert an appropriate force and that can also contract an appropriate amount of length. Experimental results show that the prototype robot can achieve helical rotating motion and propulsion in straight and curved tubes.