Research on a new type peristaltic micro in-pipe robot

A new type peristaltic micro in-pipe robot was studied, and the driving mode of parallel shape memory alloy (SMA) was adopted by the robot. Its principle is that it can realize the peristaltic motion mechanism through the regular expansions between different modules and frictions on the moving surface. The antitype design, production and control system integration were completed, and the movement control of the robot was realized. The motion performance of the robot in different voltage and material surface were tested and analyzed, and good motion performance was validated by the experiment.