Abstract
This paper presents the micromotion analysis of five-bar linkages and demonstrates the approximate linearity of motion transmission of five-bar mechanisms within a micromotion range. A novel walking mechanism used for a microrobot and a small-scale gripper with a high transmission ratio are introduced, based on the flexure-hinge five-bar mechanism analysis. Results of numerical simulation show the validity of design and analysis on the introduced mechanisms and the feasibility of corresponding thoughts. The presented micromotion-based robot mechanisms are devoid of friction and fitting errors, and particularly suitable for microrobot applications.
| Original language | English (US) |
|---|---|
| Pages (from-to) | 531-538 |
| Number of pages | 8 |
| Journal | Journal of Robotic Systems |
| Volume | 21 |
| Issue number | 10 |
| DOIs | |
| State | Published - Oct 1 2004 |
| Externally published | Yes |
ASJC Scopus subject areas
- Control and Systems Engineering
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Wang, G., Wang, S. G., & Xu, W. (2004). On using flexure-hinge five-bar linkages to develop novel walking mechanisms and small-scale grippers for microrobots. Journal of Robotic Systems, 21(10), 531-538. https://doi.org/10.1002/rob.20034