An in-pipe mobile robot using electro-conjugate fluid

Akihiro Yamaguchi, Kenjiro Takemura, Shinichi Yokota, Kazuya Edamura

Research output: Contribution to journalArticle

2 Citations (Scopus)

Abstract

An electro-conjugate fluid (ECF) is a kind of functional fluid, which produces a jet flow (ECF jet) when subjected to high DC voltage. It is known that a strong ECF jet is generated under nonuniform electric field, for example, the field with a pair of needle and ring electrodes. This study introduces the ECF jet to develop a novel inchworm like in-pipe mobile robot which mainly consists of two clamping units (a clamping actuator, an ECF jet generator and an ECF tank) and a propelling unit (a propelling actuator, an ECF jet generator and an ECF tank). First, we characterize the actuators composed of a silicone rubber tube and aramid fibers. Next, we characterize the ECF jet generator which could be a micro fluid pressure source of the actuators, and confirm the effect of the number of electrode pairs on its performance. Finally we develop the ECF in-pipe mobile robot and demonstrate that the robot can move in a 14 mm acrylic pipe with 0.043 mm/s. The robot is 200mm long with the diameter of 10mm.

Original languageEnglish
Pages (from-to)214-226
Number of pages13
JournalJournal of Advanced Mechanical Design, Systems and Manufacturing
Volume5
Issue number3
DOIs
Publication statusPublished - 2011

Fingerprint

Mobile robots
Pipe
Fluids
Actuators
Robots
Aramid fibers
Electrodes
Silicones
Needles
Acrylics
Rubber
Electric fields

Keywords

  • Artificial Muscle
  • Electro-Conjugate Fluid
  • Functional Fluid
  • In-Pipe Mobile Robot
  • Soft Actuator

ASJC Scopus subject areas

  • Industrial and Manufacturing Engineering
  • Mechanical Engineering

Cite this

An in-pipe mobile robot using electro-conjugate fluid. / Yamaguchi, Akihiro; Takemura, Kenjiro; Yokota, Shinichi; Edamura, Kazuya.

In: Journal of Advanced Mechanical Design, Systems and Manufacturing, Vol. 5, No. 3, 2011, p. 214-226.

Research output: Contribution to journalArticle

Yamaguchi, Akihiro ; Takemura, Kenjiro ; Yokota, Shinichi ; Edamura, Kazuya. / An in-pipe mobile robot using electro-conjugate fluid. In: Journal of Advanced Mechanical Design, Systems and Manufacturing. 2011 ; Vol. 5, No. 3. pp. 214-226.
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