A Kind Of Microrobot In Pipe Using Driving Fin

The research of micro robot-inpipe is an important research field of micro robot field. Micro robot-inpipe is a micro robot which can move in a very thin pipe. So it can be used in electric power generation chemical industry, refrigeration and it can be used as a dyadic robot of endoscope. Its essence is a micro electronic machine system that can move automatically along a pipe. The micro robot also can be controlled by a computer so it can work in pipe with sensors and other tools.In this paper we propose a developed kind of micro robot in pipe using driving fin which is forced by an alternate magnetic field. The motion form is swimming. The micro robot that have characteristic of flexibility, good response and driven by wireless. We also analyzed the mechanism of the micro robot and built a motion model of the micro robot.In this paper we made an alternate magnetic field generated system by using a 89C52 SCM and a PCI card. We used a magnetic stepping motor to drag the signal generate system. The magnetic stepping motor and the signal generated system are controlled by a computer. So we can control the position intensity and frequency of the alternate magnetic fieldFinally, we did two experiments. One tested the fin displacement with different length and frequency. The other is an experiment of micro robot motion characteristic.