曲がり穴放電加工用マイクロロボットの開発

（自律的放電加工機能を有した方向制御装置による曲がり穴加工の実現）

抄録

One of aims in our laboratory is to develop a curved hole electrical discharge machining (EDM) system by means of a microrobot. Three units constitutes the microrobot, i.e., autonomous EDM unit, machining direction steering unit, and in-pipe self-mobile unit. These units have been developed separately in our previous studies. These respective studies have developed the autonomous EDM unit which employs shape memory alloy (SMA) as its actuator and the machining direction steering unit which consists of a helical compression spring and wires whose respective posture and feeds are controlled by linear actuators. So, this study has developed the device combining these two units which makes the device fabricate a curved hole. The experiment result shows that the developed device has the ability to fabricate a curved hole.