A Single Component Locomotion Mechanism with Dual Driving Principles for Micro and Miniature Robot

The requirements of high speed with high resolution for micro and miniature robot can not be satisfied by traditional locomotion mechanisms.The macro/micro dual locomotion mechanisms are commonly to be too complex.Hence,a single component mechanism based on dual locomotion principles is presented.The dual locomotion principles include the stick-slip principle in nonresonant condition and the impact principle in resonant condition,which are respectively for high driving resolution and high driving velocity.Experimental results show that the locomotion resolution of the prototype reaches 0.896 μm in forward direction and 0.456 μm in backward direction.The locomotion velocity of 172 mm/s can be achieved with the operating voltage of 10 V.The locomotion mechanism has a simple structure and is easy to be miniaturized and mass fabricated.The novel locomotion mechanism is of high locomotion velocity and high driving resolution,which can greatly improve the moving performance of the micro mobile robots.