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.