Study on Peristaltic Crawling Micro-Machine Using Magnetic Fluid

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Attention was paid to the peristaltic crawling of earthworm as transport function in place of wheels or ambulation, and based on these observations a micro robot running inside a tube using magnetic fluid was developed. In this micro robot, a cell corresponding to earthworm's segment is composed of a natural rubber tube sealed with water-based magnetic fluid, and the cells are connected with elastic rods made of natural rubber.Moreover, we propose an earthworm type robot that adopts a soft artificial muscle actuator in order to resolve these disadvantageous problematic points. In this configuration, a cell equivalent to a segment of the earthworm is composed of the new artificial muscle actuator, and the cells are connected with the attachments. This paper presents the new artificial muscle actuator, and the cells are connected with the attachments. This paper presents the analytical result of the peristaltic crawling of an actual earthworm and the evaluation result of transport mechanism of a prototype micro robot moved by magnetic field and air pressure.