Development Of A Swimming Microrobot In Pipe

Many kinds of flaw will appear on small pipelines of industrial equipments when they are used for a long time, which can do harm to daily production and life. Demands of pipe robots with detection or repair increase a lot, since those small pipelines are very difficult to examine and repair.Due to the constraint of power supply, current in-pipe robot cannot work in long distance and for a long time. On the basis of swimming theories of fish and tadpole, so the research is made on the design of a novel cableless in-pipe robot, By using the tail fin, it produces propulsion force when it is swayed under the actuation by alternating magnetic, so it can realize swimming of micro-robot. The swimming propulsion principle of the micro-robot has been analyzed in detail, and it also gives its motion and dynamics models of undulatory propulsion.The paper gives the whole control system design of the in-pipe robot, which includes electro-magnet drive module, communication module, power module etc. Control system on the AVR is developed successfully, it includes hardware circuit and programme software.we have designed examination circuit of motor position from hard and soft wares that combines with primary control circuit and actual request . It realizes closed loop control by combining with checking and counting function of MCU, and gains good effect.Finally, swimming experiments on the micro robot are conducted, and analysizes the relationship of the speed and different magnetic frequency. The experimental results show that the micro robot has good swimming performance, and it can be driven by exterior magnetic field without cable is realized.