Micro in-pipe robot mechanical structure design of Shape Memory Alloy driving

Abstract

The paper presents a new driving mechanism made of SMA (Shape Memory Alloy), with which the robot is designed with advantages of light weight, compact structure, less joints, easily machined, etc. The robot is driven by energy which transformed by compression spring using SMA actuator when heating or cooling, and which is composed of SMA spring, friction spring strips and Maxon serve DC electromotor. Such robot can pass through variable diameters pipelines from 50-80 mm as well as U and T type pipe that curvature is 1.2 times bigger than pipe diameter, and the effectiveness is verified by experiment in an actual pipeline.