抄録
Many of pipes that supply indispensable water, gas and electricity for our life are laid underground. A regular inspection is necessary for these pipes. In the penetration inspection to which the inspection is done without digging up piping, the influence of the substance in the pipes is received. The micro robot that can easily inspect substance is being proposed by authors. However, the estimation of the deformation behavior of rubber is difficult though the variety of the rubber material is advanced like this. Because of deformation by power with slight rubber the cause, and it is difficult to estimate the deformation behavior of rubber as a result, and to use it for the product design. The material constant of rubber is obtained by the tensile test, the experiment value is done to the analysis that uses "MSC Marc", and strength of materials characteristic of the rubber type pneumatic actuator is clarified.
