微小型机器人的新型步行机构--柔铰五杆机构

基于微小机械设计的一体化思想，通过分析五杆机构在小范围运动状态下近似线性的传动特性，把平面多自由度的闭链五杆机构和易于实现尺寸生小型化的柔性铰链结合在一起，提出了一种柔铰五杆机构。给出了这一机构的设计理论和方法，并应用到微小机器人的步行机构上，对其进行了仿真验证。结果表明，这一步行机构是可行的。

A Novel Walking Mechanism Used for Microrobot--Flexure-Hinge Five-Bar Mechanism

A novel flexure hinge five bar mechanism was put forward by analyzing the approximate linear drive of five bar mechanism within a micro motion. It combines the flexure hinges that lead to miniaturization of structure with the planar closed up multi degree of freedom five bar mechanism on the basis of the idea of integration of micro machine design. Its design theory and method were described and applied to design a walking mechanism used for microrobot. The result of numerical simulation shows their applicability. Such a novel mechanism provides a new approach for the research on micro walking robots.