Analysis and research of wandering and procession pipe robot driven by the external magnetic field

Micro pipe robot has the features of small size, quick response and low energy consumption,Wireless driving method is used to enhance the reliability and feasibility of the robot. This paper focuses on micro-robots that driven directly by use of an external magnetic field magnetic force, permanent magnet is embedded in the body of the micro-robot, and drive magnetic field generated by the combination electromagnetic coil is used to complete the drive requirement. At the same time an drive scheme of magnetic system based on the structure of combination coil is presented to resolve the problem of two-way travel that the wandering robot cann't achieve.