Novel walking mechanism used for microrobot - Flexure-hinge five-bar mechanism

Guobao Wang, Shi Gang Wang, Wei Xu, An Lin Wang, Xin Rui Yu

Research output: Contribution to journalArticlepeer-review

1 Scopus citations


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.

Original languageEnglish (US)
Pages (from-to)1426-1429
Number of pages4
JournalShanghai Jiaotong Daxue Xuebao/Journal of Shanghai Jiaotong University
Issue number10
StatePublished - Oct 1 2002
Externally publishedYes


  • Five-bar
  • Flexure hinge
  • Flexure-hinge five-bar
  • Micromachine
  • Walking mechanism

ASJC Scopus subject areas

  • General


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