抄録
This paper presents the fabrication of a new in-pipe microrobot movable in sheep's small intestine. The microrobot is made by three flexible rubber bellows which are 5 mm in diameter and 20 mm long. The microrobot is connected thin tubes which are 1 mm in inner diameter, 1000 mm long and feed pneumalic and vacuum pressure to the microrobot. The microrobot is equipped eight thin friction-rings which are located at both ends of the bellows, and the front and the rear ends of the microrobot. The friction-ring are 7 mm in outer diameter and 0.3 mm thin made of vinyle chloride for the acrylic pipe and made of rubber with small warts for the sheep's small intestine. The maximum speed of 40 mm/s was obtained at the pneumatic pressure of 0.11 Mpa, the vacuum pressure of -0.08 Mpa, and the pulse width time of 0.05 seconds in the acrylic pipe and also 9 mm/s was obtained in the sheep's small intestine.
