Back
 JEMAA  Vol.3 No.9 , September 2011
Novel Globular Magnetic Actuator Group Capable of Free Movement in a Complex Pipe
Abstract: Finding damage inside pipes is important for the inspection of complex pipes used in nuclear power plants and chemical plants. A number of studies have investigated the mechanisms of an actuator with an electric cable to provide locomotion through various devices in complex pipes. An in-pipe robot capable of movement in narrow complex pipes has not yet been developed. In the present paper, we propose a globular magnetic actuator group that exhibits a very high thrust force and is capable of free reversible motion in complex pipes. Two actuators of the same size and characteristics are coupled by the magnetic connection method, which generates almost no mechanical loss. The globular magnetic actuator group capable of reversible motion through elongation and contraction of eight shape-memory-alloy (SMA) coils was fabricated. Experimental results indicate that the prototype actuator group is able to climb at a rate of 29 mm/s in a straight pipe while pulling a load mass of 48 g. In addition, the average speeds for two patterns of movement in a complex pipe with several curved sections and step sections were measured. The prototype actuator group is able to move in a complex pipe at an average speed of over 30 mm/s. This actuator group has several possible applications, including inspection using a micro-camera and pipe maintenance.
Cite this paper: nullH. Yaguchi, N. Sato, A. Shikoda and K. Ishikawa, "Novel Globular Magnetic Actuator Group Capable of Free Movement in a Complex Pipe," Journal of Electromagnetic Analysis and Applications, Vol. 3 No. 9, 2011, pp. 387-393. doi: 10.4236/jemaa.2011.39061.
References

[1]   Y. Kondo and S. Yokota, “Fluid Power Systems Involving the Use of an Electro-Rheological Fluid,” Transactions of the Japan Society of Mechanical Engineers, Vol. 64, No. 617, 1998, pp. 300-306.

[2]   H. Saito, K. Sato, K. Kudo and K. Sato, “Fundamental Study of Mover Travel Inside a Small Diameter Pipe,” Transactions of the Japan Society of Mechanical Engineers, Vol. 66, No. 641, 2000, pp. 346-353.

[3]   K. Suzumori, M. Takata and S. Wakimoto, “A Miniature Inspection Robot Negotiating Pipe of Widely Varying Diameter,” Journal of Robotics and Mechatoronics, Vol. 15, No. 5, 2003, pp. 555-560.

[4]   Q. Pan and S. Guo, “A Paddling Type of Microrobot in Pipe,” Proceedings of IEEE International Conference on Robotics and Automation, Kobe, 12-17 May 2009, pp. 2995-3000.

[5]   M. Ohno, T. Hamano and S. Kato, “Modeling and Fabrication of a Mobile Inspection Microrobot Driven by a Pneumatic Bellows Actuator for Long Pipes,” Journal of Robotics and Mechatoronics, Vol. 18, No. 1, 2006, pp. 11-17.

[6]   M. Ohno, T. Hamano and S. Kato, “Modeling and Fabrication of a Mobile Inspection Microrobot Driven by a Pneumatic Bellows Actuator for Long Pipes,” International Journal of Advanced Robotic Systems, Vol. 7, No. 1, 2010, pp. 85-90.

[7]   H. Yaguchi, K. Ishikawa and T. Zamma, “A Novel Cableless Magnetic Actuator Capable of Reversible Motion in a Thin Pipe,” IEEE Transactions on Magnetics, Vol. 45, No. 10, 2009, pp. 4530-4533. doi:10.1109/TMAG.2009.2021568

[8]   H. Yaguchi and N. Sato, “Globular Magnetic Actuator Capable of Freely Movement in a Complex Pipe,” IEEE Transactions on Magnetics, Vol. 46, No. 6, 2010, pp. 1350-1355. doi:10.1109/TMAG.2010.2040712

 
 
Top