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Four-leg independent mechanism for MEMS microrobot

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Abstract

In this paper, the development of a quadruped micro-electro mechanical system (MEMS) microrobot with a four-leg independent mechanism is described. As the actuator mechanism inside small robot bodies is difficult to realize, many microrobots use external field forces such as magnetism and vibration. In this paper, artificial muscle wires that are family of shape memory alloy are used for the force of the actuator. The artificial muscle wire shows the large displacement by passing the electrical current through the material itself. The double four-link mechanism is adopted for the leg system. The link mechanism transforms the linear motion of the artificial muscle wire to the foot step-like pedaling motion. The location of the backward swing motion is lower than that of forward swing motion. This motion generates the locomotion force. As a result, the total length of the constructed quadruped MEMS microrobot was 6 mm. The microrobot could perform similar gait pattern changes as the quadruped animal.

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Acknowledgements

The fabrication of the MEMS microrobot was supported by the Research Center for Micro Functional Devices, Nihon University.

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Authors and Affiliations

  1. Nihon University, 7-24-1 Narashinodai, Funabashi-shi, Chiba, 274-8501, Japan

    Daisuke Tanaka, Yuto Uchiumi, Satoshi Kawamura, Minami Takato, Ken Saito & Fumio Uchikoba

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  1. Daisuke Tanaka
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  2. Yuto Uchiumi
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  3. Satoshi Kawamura
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  4. Minami Takato
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  5. Ken Saito
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  6. Fumio Uchikoba
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Corresponding author

Correspondence to Daisuke Tanaka.

Additional information

The fabrication of the MEMS microrobot was supported by the Research Center for Micro Functional Devices, Nihon University.

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Tanaka, D., Uchiumi, Y., Kawamura, S. et al. Four-leg independent mechanism for MEMS microrobot. Artif Life Robotics 22, 380–384 (2017). https://doi.org/10.1007/s10015-017-0365-2

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  • DOI: https://doi.org/10.1007/s10015-017-0365-2

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