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    Microrobotic leg with expanded planar workspace

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    Name:
    Microrobotic_Leg_Design_final_v2.pdf
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    896.9Kb
    Format:
    PDF
    Description:
    Accepted Manuscript
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    Type
    Article
    Authors
    Hussein, Hussein cc
    Bazroun, Ali Al
    Fariborzi, Hossein cc
    KAUST Department
    Physical Science and Engineering (PSE) Division
    Computer, Electrical and Mathematical Science and Engineering (CEMSE) Division
    Electrical and Computer Engineering Program
    Date
    2022-03-30
    Permanent link to this record
    http://hdl.handle.net/10754/676314
    
    Metadata
    Show full item record
    Abstract
    A microrobotic leg actuated with amplifying mechanisms is developed in this paper to mimic the motion of legs in natural organisms on the small scale. The leg device has a planar structure and is fabricated with bulk micromachining. Two electrothermal actuators are used to drive the leg back and forth in the planar workspace. The actuator motion is transmitted elastically to the leg using flexible arms. The leg mechanism has a symmetrical structure similar to standard parallel planar manipulators but with deformable parts instead of joints. The motion of the leg at the tip side is further amplified by blocking its motion at the other side using stoppers, resulting in an extended range of motion at the leg tip. Finite element simulations and experimental tests on fabricated prototypes demonstrated the efficient operation of the proposed design. The unique characteristics of the proposed leg mechanism, including large force and displacement, multiple degrees of freedom, and compatibility with micromachining, enhance the power, control, and mobility autonomy of legged microbots.
    Citation
    Hussein, H., Al Bazroun, A., & Fariborzi, H. (2022). Microrobotic leg with expanded planar workspace. IEEE Robotics and Automation Letters, 1–1. https://doi.org/10.1109/lra.2022.3163442
    Sponsors
    Funding agency is 10.13039/501100004052-King Abdullah University of Science and Technology
    Publisher
    IEEE
    Journal
    IEEE Robotics and Automation Letters
    DOI
    10.1109/LRA.2022.3163442
    Additional Links
    https://ieeexplore.ieee.org/document/9745303/
    https://ieeexplore.ieee.org/document/9745303/
    https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=9745303
    ae974a485f413a2113503eed53cd6c53
    10.1109/LRA.2022.3163442
    Scopus Count
    Collections
    Articles; Physical Science and Engineering (PSE) Division; Electrical and Computer Engineering Program; Computer, Electrical and Mathematical Science and Engineering (CEMSE) Division

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