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

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