An In-Pipe Mobile Robot Using Electro-Conjugate Fluid
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 introduc...
| Main Authors: | , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
The Japan Society of Mechanical Engineers
2011-10-01
|
| Series: | Journal of Advanced Mechanical Design, Systems, and Manufacturing |
| Subjects: | |
| Online Access: | https://www.jstage.jst.go.jp/article/jamdsm/5/3/5_3_214/_pdf/-char/en |
| _version_ | 1818532477465001984 |
|---|---|
| author | Akihiro YAMAGUCHI Kenjiro TAKEMURA Shinichi YOKOTA Kazuya EDAMURA |
| author_facet | Akihiro YAMAGUCHI Kenjiro TAKEMURA Shinichi YOKOTA Kazuya EDAMURA |
| author_sort | Akihiro YAMAGUCHI |
| collection | DOAJ |
| description | 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 φ14 mm acrylic pipe with 0.043 mm/s. The robot is 200mm long with the diameter of 10mm. |
| first_indexed | 2024-12-11T17:46:02Z |
| format | Article |
| id | doaj.art-e394a7dffcdc4e48989e43c1f7c60643 |
| institution | Directory Open Access Journal |
| issn | 1881-3054 |
| language | English |
| last_indexed | 2024-12-11T17:46:02Z |
| publishDate | 2011-10-01 |
| publisher | The Japan Society of Mechanical Engineers |
| record_format | Article |
| series | Journal of Advanced Mechanical Design, Systems, and Manufacturing |
| spelling | doaj.art-e394a7dffcdc4e48989e43c1f7c606432022-12-22T00:56:23ZengThe Japan Society of Mechanical EngineersJournal of Advanced Mechanical Design, Systems, and Manufacturing1881-30542011-10-015321422610.1299/jamdsm.5.214jamdsmAn In-Pipe Mobile Robot Using Electro-Conjugate FluidAkihiro YAMAGUCHI0Kenjiro TAKEMURA1Shinichi YOKOTA2Kazuya EDAMURA3Graduate School of Science and Technology, Keio UniversityDepartment of Mchanical Engineering, Keio UniversityPrecision and Intelligence Laboratory, Tokyo Institute of TechnologyNew Technology Management Co., Ltd.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 φ14 mm acrylic pipe with 0.043 mm/s. The robot is 200mm long with the diameter of 10mm.https://www.jstage.jst.go.jp/article/jamdsm/5/3/5_3_214/_pdf/-char/enin-pipe mobile robotfunctional fluidelectro-conjugate fluidsoft actuatorartificial muscle |
| spellingShingle | Akihiro YAMAGUCHI Kenjiro TAKEMURA Shinichi YOKOTA Kazuya EDAMURA An In-Pipe Mobile Robot Using Electro-Conjugate Fluid Journal of Advanced Mechanical Design, Systems, and Manufacturing in-pipe mobile robot functional fluid electro-conjugate fluid soft actuator artificial muscle |
| title | An In-Pipe Mobile Robot Using Electro-Conjugate Fluid |
| title_full | An In-Pipe Mobile Robot Using Electro-Conjugate Fluid |
| title_fullStr | An In-Pipe Mobile Robot Using Electro-Conjugate Fluid |
| title_full_unstemmed | An In-Pipe Mobile Robot Using Electro-Conjugate Fluid |
| title_short | An In-Pipe Mobile Robot Using Electro-Conjugate Fluid |
| title_sort | in pipe mobile robot using electro conjugate fluid |
| topic | in-pipe mobile robot functional fluid electro-conjugate fluid soft actuator artificial muscle |
| url | https://www.jstage.jst.go.jp/article/jamdsm/5/3/5_3_214/_pdf/-char/en |
| work_keys_str_mv | AT akihiroyamaguchi aninpipemobilerobotusingelectroconjugatefluid AT kenjirotakemura aninpipemobilerobotusingelectroconjugatefluid AT shinichiyokota aninpipemobilerobotusingelectroconjugatefluid AT kazuyaedamura aninpipemobilerobotusingelectroconjugatefluid AT akihiroyamaguchi inpipemobilerobotusingelectroconjugatefluid AT kenjirotakemura inpipemobilerobotusingelectroconjugatefluid AT shinichiyokota inpipemobilerobotusingelectroconjugatefluid AT kazuyaedamura inpipemobilerobotusingelectroconjugatefluid |