Analysis of the Vertical Driving Performance of Multiple Connected Pipe-Climbing Microrobots with Magnetic Wheels.

ABSTRACT: In this study, we analyzed the vertical driving performance of multiple connected magnetic wheel-driven microrobots when moving up and down a small cylinder that simulated a pipe. The dynamics of pipe climbing by the magnetic wheel-driven microrobot were analyzed considering the magnetic attraction force and slip; a vertical climbing simulator was developed considering the hoop force and external force from the adjacent microrobots to determine the magnetic attraction force required for multiple connected microrobot pipe climbing. A prototype of an independent vertical climbing microrobot, 5 mm long, 9 mm wide, and 6.5 mm high, and prototypes of 10 microrobots were manufactured to evaluate the vertical driving performance. The usefulness was verified by showing that three driving microrobo

SUBMITTER: Takeda M 

PROVIDER: S-EPMC6724032 | biostudies-literature | 2019 Aug

REPOSITORIES: biostudies-literature