| Abstract: | According to the principle of bionics, a prototype of the earthworm-like micro robot was developed and manufactured for entering the small tube. Based on the process of the action and mechanics analysis, the controller was designed. This micro robot with 6mm diameter was driven directly by three electromagnetic linear drivers. Mobile cells were Joined with two degree-of-freedom joint and the whole body Was flexible and soft. The driving force reached 10.8g in normal working condition. The direction of movement and the angle of imaging can be controlled by the shape memory alloy (SMA). The driving force, velocity and movement of micro robot in flexural tube were tested through experiments, which indicated that the driving force was in proportion to the current, and the velocity reached a maximum in certain range of frequency, and the micro robot could move in the thin tube flexibly. |
