Development of Long, Thin, Complex, Curved Hole Electrical Discharge Machining System by Means of an Insect-Like Microrobot

本研究的最终目标是开发能够制造传统加工方法无法制造的弯曲孔的微型机器人。该微型机器人由自主放电加工单元、管道内自移动单元和加工方向转向单元组成。特别是，本研究涉及到小型化、性能增强和设计方法的建立，对于第一个单元，也涉及到第二个单元的实施和性能验证。

The final goal of this study is the development of the microrobot which can create curved holes impossible to be fabricated by conventional machining methods. This microrobot consists of the autonomous electrical discharge machining unit, the in-pipe self-movable unit, and machining direction steering unit. In particular, this study deals with the miniaturization, the performance enhancement, and the establishment of the design method, regarding the first unit, also deals with the embodiment and the performance verification, regarding the second unit.