A novel in-pipe worming robot based on SMA

Using twelve novel SMA (Shape Memory Alloy) linear actuators, which can stretch and shrink along its axis and can bear some radial force and bend, a miniature worming robot with a cubic form was presented. By imitating earthworms' walking method and adopting a unique turning method, this robot can walk in pipelines forward and backward, right and left, up and down. So it can pass through "L" and "T" shaped pipelines. If need be, it can adjust its attitude. Besides, the robot has a certain ability of passing through pipelines with large curvature or variable radius in a certain span. At last, a worming robot that can move in 2-inch pipelines was developed and some experiments for it were made.