Development of a peristaltic crawling robot using magnetic fluid on the basis of the locomotion mechanism of an earthworm

Norihiko Saga; Taro Nakamura

doi:10.1117/12.476128

14 November 2002 Development of peristaltic crawling robot using magnetic fluid on the basis of locomotion mechanism of earthworm

Norihiko Saga, Taro Nakamura

Author Affiliations +

Proceedings Volume 4935, Smart Structures, Devices, and Systems; (2002) https://doi.org/10.1117/12.476128
Event: SPIE's International Symposium on Smart Materials, Nano-, and Micro- Smart Systems, 2002, Melbourne, Australia

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.

Citation Download Citation

Norihiko Saga and Taro Nakamura "Development of peristaltic crawling robot using magnetic fluid on the basis of locomotion mechanism of earthworm", Proc. SPIE 4935, Smart Structures, Devices, and Systems, (14 November 2002); https://doi.org/10.1117/12.476128

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available