Name
Abstract | ||
|---|---|---|
This paper presents a method to achieve circular stepping motion by a single actuator on a microrobot leg mechanism. Five-bar linkage with different bending strength flexible hinges have two different resonance frequencies in the first and second axis. While force actuates on the first and second axes of the leg mechanism simultaneously and the frequency is between two resonance frequencies, motions in the first and second axis have a phase difference. Due to phase differences, the mechanism can perform a circular stepping motion. This method can reduce the required number of actuators and driving circuits of one leg to achieve stepping motion and decrease the complexity of the mechanism and size of the microrobot. This method is verified by the four legs microrobot, which is 70 mm in length, 40 mm in width, 20 mm in height, and 6.72 g in weight. Four pairs of coil and magnet actuators on four legs are controlled by a 7 V and 23 Hz alternating current (AC) signal. The microrobot can walk at a speed of 13.4 mm/s, equal to 0.187 body-length/s. |
Year | DOI | Venue |
|---|---|---|
2022 | 10.1109/AIM52237.2022.9863282 | 2022 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM) |
Keywords | DocType | ISSN |
robot dynamics and control,legged robots,flexible manipulators and structures,flexible printed circuit,resonance frequencies,stepping motion | Conference | 2159-6247 |
ISBN | Citations | PageRank |
978-1-6654-1309-1 | 0 | 0.34 |
References | Authors | |
7 | 3 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Chi-Kao Ye | 1 | 0 | 0.34 |
| Cheng-Lung Chen | 2 | 0 | 0.34 |
| Shao-Kang Hung | 3 | 0 | 0.34 |