Walking Microrobot Mechanism with an Exoskeleton
Author(s) -
Tetsuji Dohi,
Kousuke Kishi,
Takashi Yasuda,
Isao Shimoyama
Publication year - 2000
Publication title -
journal of robotics and mechatronics
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.257
H-Index - 19
eISSN - 1883-8049
pISSN - 0915-3942
DOI - 10.20965/jrm.2000.p0150
Subject(s) - exoskeleton , mechanism (biology) , computer science , physical medicine and rehabilitation , simulation , medicine , physics , quantum mechanics
A walking robot, 40mm × 25mm × 15mm, with an exoskeleton like the structure of an insect has been developed. This exoskeletal mechanism consists of several copper plates and polyimide hinges, and is fabricated using a micromachining technology and a paper folding technique. The electromagnetic actuators permit the hinges of the exoskeleton to bend elastically without friction. This results in converting the vertical motion of the electromagnetic actuators into the lateral walking motion of the robot. Both the electromagnetic force of the actuators and the elastic force of the hinges are proportional to the square of the characteristic length of a robot. This means that an exoskeletal mechanism is suitable for downsizing a movable robot.
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