微型机器人用四自由度仿生腿，轻量高能，运动灵活。
High-Degree-of-Freedom Lightweight Bioinspired Leg for Enhanced Mobility in Small Robots
- 采用双球面五杆并联结构，实现紧凑空间内多方向运动
- 整机仅18.9克，末端输出力达0.5牛，工作空间超22255毫米³
- 所有电机装在主体，减少运动部件惯性，适合微型机器人
在微机器人领域，如何在严苛空间约束下通过增加腿部自由度（DoF）来提升运动能力仍是一大挑战。受昆虫运动启发，本文提出一种新型微尺度并联腿部机构，具有四个自由度，并系统分析其机械设计、电气系统及运动学特性。该设计采用两个球面五杆链实现并联四杆构型下的空间运动；同时采用同轴布局策略，简化腿部运动学解析。由于并联系统架构，所有执行器均位于主体上，显著降低运动部件的等效惯性，相比传统高自由度腿部结构更具优势。系统总质量仅为18.9克，末端输出力约0.5牛，工作空间超过22255毫米³。实验结果表明，该单腿机构具备优异的运动灵活性，展现出在微型仿生机器人中的应用潜力。
原文摘要 · Abstract (English)
In microrobotics, enhancing locomotion capabilities by increasing the degrees of freedom (DoF) of leg mechanisms under severe spatial constraints remains a significant challenge. Inspired by insect locomotion, this paper presents a novel micro-scale parallel leg mechanism with four degrees of freedom, and systematically analyzes its mechanical design, electrical system, and kinematics. The design incorporates two spherical five-bar linkages to achieve spatial motion within a parallel four-bar configuration. Furthermore, a concentric design strategy is employed to simplify the analytical solution of the leg kinematics. Due to the parallel system architecture, all actuators are located on the main body, substantially reducing the equivalent inertia of moving parts compared to traditional high-DOF leg structures. The total mass of the system is only 18.9 g, with an end-effector output force of approximately 0.5 N and a workspace exceeding 22255 mm3. Experimental results demonstrate that the proposed single-leg mechanism achieves excellent motion flexibility, highlighting its potential for micro bio-inspired robotics.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。