An in-pipe mobile robot using electro-conjugate fluid

Akihiro Yamaguchi, Kenjiro Takemura, Shinichi Yokota, Kazuya Edamura

Research output: Contribution to journalArticlepeer-review

6 Citations (Scopus)


An electro-conjugate fluid (ECF) is a kind of functional fluid, which produces a jet flow (ECF jet) when subjected to high DC voltage. It is known that a strong ECF jet is generated under nonuniform electric field, for example, the field with a pair of needle and ring electrodes. This study introduces the ECF jet to develop a novel inchworm like in-pipe mobile robot which mainly consists of two clamping units (a clamping actuator, an ECF jet generator and an ECF tank) and a propelling unit (a propelling actuator, an ECF jet generator and an ECF tank). First, we characterize the actuators composed of a silicone rubber tube and aramid fibers. Next, we characterize the ECF jet generator which could be a micro fluid pressure source of the actuators, and confirm the effect of the number of electrode pairs on its performance. Finally we develop the ECF in-pipe mobile robot and demonstrate that the robot can move in a 14 mm acrylic pipe with 0.043 mm/s. The robot is 200mm long with the diameter of 10mm.

Original languageEnglish
Pages (from-to)214-226
Number of pages13
JournalJournal of Advanced Mechanical Design, Systems and Manufacturing
Issue number3
Publication statusPublished - 2011


  • Artificial Muscle
  • Electro-Conjugate Fluid
  • Functional Fluid
  • In-Pipe Mobile Robot
  • Soft Actuator

ASJC Scopus subject areas

  • Mechanical Engineering
  • Industrial and Manufacturing Engineering


Dive into the research topics of 'An in-pipe mobile robot using electro-conjugate fluid'. Together they form a unique fingerprint.

Cite this