Flexure-based Two Degree-of-freedom Legs for Walking Microrobots
نویسنده
چکیده
This work examines the design of legs for a walking microrobot. The parameterized force-displacement relationships of planar serpentine flexure-based two degree-of-freedom legs are analyzed. An analytical model based on Euler-Bernoulli beam theory is developed to explore the design space, and is subsequently refined to include contact between adjacent beams. This is used to determine a successful leg geometry given dimensional constraints and actuator limitations. Standard comb drive actuators that output 100 μN of force over a 15 μm bi-directional throw are shown able to drive a walking gait with three legs on a 1cm2 silicon die microrobot. If the comb drive suspensions cannot withstand the generated reaction moments, an alternate pivot-based leg linkage is proposed.
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