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Microbionic and peristaltic robots in a pipe
Authors:Jianxu Ma  Xiang Liu  Jianhua Ma  Mingdong Li  Peisun Ma
Institution:(1) School of Mechanical Engineering, Shanghai Jiaotong University, 200030 Shanghai, China;(2) Pericom Technology Co. Ltd., 200233 Shanghai, China;(3) Pingquan Normal College, 067500 Pingquan, China
Abstract:A microbionic and peristaltic robot that simulates the motion of an earthworm to move within a micropipe is proposed. The robot consists of three flexible units. Each unit is composed of two plates connected with three shape memory alloys (SMA) 120° apart, the rubber gasbag around the SMA wires inflated with air inside. Each unit corresponds to a segment of an earthworm, and the SMA and rubber gasbag have the same functions as the cricoid and longitudinal muscles of the earthworm. A control system is designed to fulfill the control of the three flexible units motions, such as stretching, shrinking and bending, so the microrobot can walk forward and backward, and choose the direction.
Keywords:microrobot  simulating earthworm  soft pipe
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