研究活動
　ECF MicroMotors 　ECF MicroActuators 　ECF-jets Pumps 　ERF Valves
　ERF MicroValves 　Micro Machine 　MRF Valves 　MRF MicroValves
　Micro Pumps 　Sensors 　Manipulators 　CPS Systems
 
マイクロマシン

Inpipe Mobile Micro Machine

Concept of Inpipe Movable Micro Machine

Inpipe Movable micro machine with high power for inspection of small pipes in the power plants are strongly required. ERF Micro valves are applied to control an in-pipe micro machine with small-sized bellows-type actuators. The machine moves like an inchworm.
 
Inpipe Movable Micro Machine driven by suspension-type ERF valves
Inpipe Movable Micro Machine driven by homogenious-type ERF valves
 
Inpipe Movable Mico Machine with 3mm Diameter driven by water hydraulics
Research Activities
(1) Yutaka KONDOH, Shinichi YOKOTA: Micro In-pipe Mobile Machines by Making Use of an Electro-Rheological Fluid, Proc. of IROS'97, Grenoble, Vol.3, pp1672/1677, (1997)
(2) Kazuhiro YOSHIDA, Ken TAKAHASHI, Shinichi YOKOTA, : In-pipe Mobile Micromachine Using Fluid Power Adaptable to Pipe Diameters, Journal of Robotics and Mechatronics, Vol.11, No.5, pp.417/422, (1999)
(3) Kazuhiro YOSHIDA, Ken TAKAHASHI, Shinichi YOKOTA, : In-pipe Mobile Micromachine Using Fluid Power (A Mechanism Adaptable to Pipe Diameters), JSME International Journal, Vol.43, Ser.B, No.1, pp.29/35, (2000)
(4) Kazuhiro YOSHIDA, Takayuki SHIMIZU, and Shinichi YOKOTA: Development of an In-Pipe Mobile Micromachine Using Homogeneous ER Fluid, Proc. of the 1st Taiwan-Japan Workshop on Mechanical and Aerospace Engineering, Vol.3, pp.871/882, (2001)

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