Microbionic and peristaltic robots in a pipe

A microbionic and peristaltic robot that simulates the motion of an earthwo rm to move within a micropipe is proposed. The robot consists of three flex ible units. Each unit is composed of two plates connected with three shape memory alloys (SMA) 120 degrees apart, the rubber gasbag around the SMA wir es inflated with air inside. Each unit corresponds to a segment of an earth worm, and the SMA and rubber gasbag have the same functions as the cricoid and longitudinal muscles of the earthworm. A control system is designed to fulfill the control of the three flexible units motions, such as stretching , shrinking and bending, so the microrobot can walk forward and backward, a nd choose the direction.