Abstract
This paper describes a fabrication of an in-pipe mobile microrobot movable in the small diameter pipes. The microrobot is inchworm type and structured by three rubber bellows arranged in series. The rubber bellows is 8 mm in outer diameter, 4mm in inner diameter and 52mm long. The microrobot is connected three air-feeding tubes which are 2mm inner diameter and 2000mm long. The small diameter pipe is 21mm in outer diameter, 18mm in inner diameter and 2000mm long. The microrobot can move with a small diameter pipe by the speed of 151mm when moved by pneumatic pressure of 0.03MPa and vacuum pressure of -0.085MPa.
