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Proceedings Paper

Development of a peristaltic crawling robot using magnetic fluid on the basis of the locomotion mechanism of an earthworm
Author(s): Norihiko Saga; Taro Nakamura
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Paper Abstract

The field of bio-engineering with the aim of developing new machines, which utilizes the motion and control of organisms as a model, is attracting attention. This technology is pursued by paying attention to various shapes and movements of organisms and autonomous system of organisms in acting in response to environment surrounding them, and by mechanically elucidating the locomotion mechanism, propulsive mechanism, nerve system and sensation system of these organisms. On the other hand, in the field of hydrodynamics, magnetic fluid that changes its apparent viscosity depending on magnetic field has been developed, and its utilization is under trial in various fields. We paid attention to the peristaltic crawling of earthworm as transport function in place of wheels or ambulation, and have developed a micro robot running inside a tube using magnetic fluid. In this micro robot, a cell corresponding to earthworm's segment is composed of a natural rubber tube sealed with water-based magnetic fluid, and the cells are connected with elastic rods made of natural rubber. The feature of this micro robot is that its structure is simply composed of, and it can be controlled with external wireless force, by providing it with moving magnetism from the outside. This paper presents the analytical result of the peristaltic crawling of an actual earthworm and the evaluation result of transport mechanism of a prototype micro robot moved by external magnetic field.

Paper Details

Date Published: 14 November 2002
PDF: 9 pages
Proc. SPIE 4935, Smart Structures, Devices, and Systems, (14 November 2002); doi: 10.1117/12.476128
Show Author Affiliations
Norihiko Saga, Akita Prefectural Univ. (Japan)
Taro Nakamura, Akita Prefectural Univ. (Japan)


Published in SPIE Proceedings Vol. 4935:
Smart Structures, Devices, and Systems
Erol C. Harvey; Derek Abbott; Vijay K. Varadan, Editor(s)

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