Development of Mechanism of In-pipe Mobile Robot using the Peristalsis

Abstract

In this study we develop in-pipe mobile robot assuming to run in the blood-vessel. Therefore, the transfer form using the wheel would not be used, and the mechanism for the transfer by the peristalsis is adopted. And, it is not used the result which the actuator operates using the electric power. The actuator which moved by the water pressure is adopted. The robot is manufactured from the above design condition actually, and the operation is confirmed by the experiment. The experiment which run the human intravenous is not done, but it is confirmed that produced robot moved in straight pipe made of the acrylic resin of the 6mm inside diameter. And in this paper, it is reported, because going back mechanism was developed by the peristalsis using the expansion of the rubber without the wedgy leg like the convention in the advance.