A wireless actuation system for micro-robot moving inside pipeline

We propose an external actuation technique for wireless micro-robot in pipeline. In this technique, the external magnetic field is used to rotate the micro-robot by applying a force on the magnet which is enclosed in the robot. With the help of the spiral structure on the outer surface of the robot, the rotation of robot can be converted to axial motion through liquid such as water or oil of the pipeline. The motion principles of the micro robot is discussed in this paper. The real experimental results show this actuation method is realizable and feasible.