Multi-Material Compliant Mechanisms for Mobile Millirobots
This paper describes a new process for fabricating planar, multi-material, compliant mechanisms, intended for use in small scale robotics. The process involves laser cutting the mechanism geometry from a rigid material, and refilling the joint areas with a second, elastomeric material. This method allows for a large set of potential materials, with a wide range of material properties, to be used in combination to create mechanisms with highly tailored mechanical properties. These multi-material compliant mechanisms have minimum feature sizes of approximately 100 μm and have demonstrated long lifetimes, easily surviving 100,000 bending cycles. We also present the first use of these compliant mechanisms in a 2.5cm x 2.5cm x 7.5cm, 6g hexapod. This hexapod has been demonstrated moving at speeds up to 6 cm/s, with a predicted maximum speed of up to 17 cm/s.
Dana E. Vogtmann Satyandra K. Gupta Sarah Bergbreiter
University of Maryland,College Park,USA Department of Mechanical Engineering,the Institute for Systems Research,and the Maryland Robotics Ce
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
3169-3174
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）