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A Novel Cableless Magnetic Actuator Capable of Movement in a Pipe

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This paper proposes a novel cableless magnetic actuator that exhibits a very high thrusting force and is capable of being adapted to propel a robot within a pipe. This actuator contains a mechanical inverter that directly transforms DC from button batteries into AC. The mechanical DC–AC inverter incorporates a one-degree-of-freedom-mass-spring system and a curved beam with a concentrated copper mass that switches under an electromagnetic force. The actuator is moved by the difference in frictional force between forward and backward supporting force of flexible materials like a rubber. It is able to move through a pipe of 8 mm inner diameter. Experimental results show that the actuator can move upwards at a speed of 35.3 mm/s without a load mass. Further, the results suggest possibility of reversible motion of the cableless magnetic actuator. This cableless magnetic actuator has many possible applications, including inspection and maintenance of the pipes.


Document Type: Research Article


Publication date: 2009-06-01

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