抄録
Various pipes are used in the factory and the human body also consists of pipes. In order to inspect such pipes, we have developed twisted bundled tube locomotive device. However, the diameter of the minimum pipe in that the device can move was 9mm. Therefore, we are downsizing the mechanism, aimed to utilize the device in the small pipe such as a blood vessel. In this paper we developed the device by using a silicone tube of 1mm in diameter. In order to constrict the inflation of the diameter of the tube by pressure, we wound the thread around wound tubes and solidified by latex. The devise can move in the pipe with a diameter of 2.5 mm.
