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Biomechanics of legs of different families of insects is studied. Geometry of different pairs of legs designed for walking, running, swimming, digging and other tasks has been measured on entomological collections. Relationships between the lengths of three main segments (femur, tibia, tarsus) as well as their smaller segments (if any) have been studied. It is shown the cursorial and fossorial legs satisfy the same nondimentional relationships in the insects of different size, habitat and evolutionary age, while the saltatorial, nanatorial and raptoridal legs possess different types of relations. Application of the nature inspired design to engineered macro and micro manipulators and robotic systems is discussed. Keywords: movements of insects, biomechanics of leg, robotics, biomimetic design

Geometry and mechanical function of multijoint extremities from mammals to insects: towards biomimetic design of robotic arm