顕微作業用XYθ小型自走機械の開発 (第6報) : —平行バネによる四点接地機構の開発—

概要

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In this paper, we describe the “Versatile Micro Robot” with newly developed suspension mechanism composed of parallel leaf springs for smooth contact of 4 legs on the surface. In order to provide microscopic operation, the unique locomotion mechanism which is composed of four piezoelectric actuators and two electromagnets is proposed. Here two legs arranged on cross each other are connected by four piezoelectric actuators so that it can move in any directions, i.e. in X and Y directions as well as rotate at the specified point precisely with the manner of an inchworm. To obtain 4 legs smooth contact on the metal floor simultaneously, the robot is equipped with joint mechanism composed of V-shaped groove and cylinder-shaped magnetic core. However, the frictional and lubricated conditions are easily changed, so it has much of nonuniformity of translational motions in 8 directions. Parallel leaf spring mechanisms are often used as precision linear motion mechanisms because they are simple and free from friction. To improve the motion uniformity, we have developed suspension mechanism with parallel leaf springs. In several experiments, we have improved the uniformity of translational motions in 8 directions and decreased posture error. The possibility of this tiny robot for flexible positioning device is also discussed to open the new field for micro-robotics in precision region.