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This paper proposes a cable-less magnetic actuator that exhibits a very high thrusting force and is capable of being adapted to propel a robot within a pipe. The actuator contains a mechanical inverter that directly transforms dc from button batteries into ac. The mechanical dc-ac inverter incorporates a cantilever beam and a one-degree-of-freedom-model that switches under an electromagnetic force. A prototype actuator containing a mechanical dc-ac inverter was fabricated, and is able to move through a pipe of 14 mm inner diameter. Experimental results show that the actuator can move upwards at a speed of 26 mm/s. This cable-less actuator has many possible applications, including small pipe inspection and maintenance.

Cable-Less Type of Magnetic Actuator Capable of Movement in a Pipe