Microbionic and peristaltic robots in a pipe

作     者：MA Jianxu LIU Xiang MA Jianhua LI Mingdong MA Peisun 

作者机构：School of Mechanical EngineeringShanghai Jiaotong University.Shanghai 200030China Pericom Technology Co.Ltd.Shanghai 200233China Pingquan Normal CollegePingquan 067500China 

出 版 物：《Chinese Science Bulletin》 (中国科学通报)

年 卷 期：2000年第45卷第11期

页      面：985-988页

核心收录：

学科分类：080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程] 

主　　题：microrobot simulating earthworm soft pipe. 

摘      要：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.