Vibration Actuator System with Small-Scale Size Capable of Visual Inspection of Large Complex Iron Structures

Deterioration of social infrastructure equipment has become a major problem in countries around the world. In present study, novel vibration actuator system capable movement on an iron structure having complicated surfaces, such as steps, is proposed. A reciprocating with small-scale size was prototyped and tested. consideration mobility, designed to be smaller than 50 mm total mass lighter 20 g. The experimental result demonstrates that maximum efficiency 28.1%, pulling power 1.8 N. Furthermore, which two actuators wheel magnetic force connected by flexible silicone rubber material prototyped. This can move over step 48 horizontal plane 25 vertical without control. Finally, machine test conducted frame surface moving, difficult even for robots. at average speed 12.1 mm/s within frame.