FBM12 FOXBORO

This work proposes a smart material-driven micro-pipe inspection robot.Weighing only 2.2 grams,with a length of 47 mm and a diameter of less than 10 mm,this”little guy”can accommodate complex pipes with sub-centimeter diameters and varying curvatures.The robot adopts high power density,long-life dielectric elastomer actuators as artificial muscles,adopts efficient anchoring units based on intelligent composite microstructures as transmission devices,and uses magnetic units with an adjustable number to quickly assemble the robot to adapt to different Complex geometry of pipes.

本项工作提出了一种智能材料驱动的微型管道检测机器人。这个重量只有2.2克、长度47毫米、直径不到10毫米的“小家伙”，可以适应亚厘米直径和变化曲率的复杂管道。机器人采用高功率密度、长寿命的介电弹性体致动器作为人造肌肉，采用基于智能复合微结构的高效锚固单元作为传动装置，使用具有可调节数目的磁单元来快速组装机器人，以适应不同管道的复杂几何形状。