Study on Peristaltic Crawling Micro-Machine Using Magnetic Fluid

注意到蠕动爬行的机器人的运输功能，而不是车轮或安培，并在这些观察的基础上，一个微型机器人内运行的管道使用磁流体。在该微型机器人中，与肌节相对应的单元由密封有水基磁流体的天然橡胶管构成，单元之间通过天然橡胶弹性杆连接，针对这些不足，提出了一种采用柔性人工肌肉驱动器的肌节型机器人。在该构造中，相当于一段肌的单元由新的人工肌肉致动器组成，并且单元与附件连接。本文提出了一种新型的人工肌肉驱动器，其单元通过附着体连接。本文给出了一个实际机器人蠕动爬行的分析结果和一个由磁场和气压驱动的微型机器人原型的输送机构的评估结果。

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.