摘要
The paper deals with miniature actuators and scaling effect, which occurs in using of these actuators. Scaling effect describes how much decreased performance in miniaturized actuator is. Scaling effect law helps to make perfect decision for right type of actuator. This analysis should be as the first strategic step for actuator selection. Research in area of in-pipe machine shows that scaling effect in both used actuator types （electromagnetic and piezoelectric） is the same. Passive forces cannot be neglected, because of their values, which are comparable with active forces in system. There is a potential risk, that designed system will have bigger passive forces than active forces and system cannot fulfill requirements. Energy sources selection has also important role in system design with respecting the energy requirements of selected actuator. Consequently, energy balance is also important viewpoint for actuator selection.
