Micro-hexapod robot with an origami-like SU-8-coated rigid frame

IF 1.9 4区 计算机科学 Q3 ROBOTICS
Robotica Pub Date : 2024-04-02 DOI:10.1017/s0263574724000419
Kenjiro Sugimoto, Sumito Nagasawa
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引用次数: 0

Abstract

In recent years, many microrobots have been developed for search applications using swarms in places where humans cannot enter, such as disaster sites. Hexapod robots are suitable for moving over uneven terrain. In order to use micro-hexapod robots for swarm exploration, it is necessary to reduce the robot’s size while maintaining its rigidity. Herein, we propose a micro-hexapod with an SU-8 rigid frame that can be assembled from a single sheet. By applying the SU-8 coating as a structure to the hexapod and increasing the rigidity, the substrate size can be reduced to within 40 mm × 40 mm and the total length when assembled to approximately 30 mm. This enables the integration of the micro electromechanical systems (MEMS) process into small and inexpensive hexapod robots. In this study, we assembled the hexapod with a rigid frame from a sheet created using the MEMS process and evaluated the leg motion.

带有类似折纸的 SU-8 涂层刚性框架的微型六足机器人
近年来,人们开发了许多微型机器人,用于在人类无法进入的地方(如灾难现场)进行成群搜索。六足机器人适合在不平坦的地形上移动。为了将微型六足机器人用于蜂群探索,有必要在保持机器人刚性的同时缩小其体积。在此,我们提出了一种带有 SU-8 刚性框架的微型六足机器人,该框架可由一张薄板组装而成。通过将 SU-8 涂层作为结构应用于六脚架并提高其刚性,可将基板尺寸缩小至 40 mm × 40 mm 以内,组装后的总长度约为 30 mm。这样就能将微型机电系统(MEMS)工艺集成到小型廉价的六足机器人中。在这项研究中,我们用 MEMS 工艺制作的板材组装了带有刚性框架的六足机器人,并对其腿部运动进行了评估。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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来源期刊
Robotica
Robotica 工程技术-机器人学
CiteScore
4.50
自引率
22.20%
发文量
181
审稿时长
9.9 months
期刊介绍: Robotica is a forum for the multidisciplinary subject of robotics and encourages developments, applications and research in this important field of automation and robotics with regard to industry, health, education and economic and social aspects of relevance. Coverage includes activities in hostile environments, applications in the service and manufacturing industries, biological robotics, dynamics and kinematics involved in robot design and uses, on-line robots, robot task planning, rehabilitation robotics, sensory perception, software in the widest sense, particularly in respect of programming languages and links with CAD/CAM systems, telerobotics and various other areas. In addition, interest is focused on various Artificial Intelligence topics of theoretical and practical interest.
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