Majority of researchers’ activities in microrobotics and MEMS fields has been devoted to fabrication processes and design. Lack of work on modeling, simulation and control is considerable. From the viewpoint of motion type, the most significant microrobots are the in-pipe ones. Some of the applications for the in-pipe microrobots are nozzle inspection, endoscopy, colonoscopy etc. IPMC is a new actuator in the class of EAPs. Large bending deflection, mechanical flexibility, low excitation voltage and low density make IPMC a very momentous actuator. This paper presents a new in-pipe microrobot that makes use of IPMC actuators to move the microrobot. Mathematical model of the microrobot is obtained using the extended Hamilton principle. This microrobot motion has four steps in every single movement cycle for which only two feet take part in each step. Thus the modeling process has to be done for the different steps apart. This problem considerably increases the complexity of the model. Another source that complexes the modeling process is due to the nonlinear model of IPMC actuator. Also the influence of IPMC actuators at each other has been examined.

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