Design and realization of a 6-rod 1-DOF robot

Zihang Wang; Jiaxu Shen; Jiacheng Liu; Bo Tian; Liyong Hu; Junqiang Lou

doi:10.1117/12.3038328

5 August 2024 Design and realization of a 6-rod 1-DOF robot

Zihang Wang, Jiaxu Shen, Jiacheng Liu, Bo Tian, Liyong Hu, Junqiang Lou

Proceedings Volume 13226, Third International Conference on Advanced Manufacturing Technology and Manufacturing Systems (ICAMTMS 2024); 1322612 (2024) https://doi.org/10.1117/12.3038328
Event: 3rd International Conference on Advanced Manufacturing Technology and Manufacturing Systems (ICAMTMS 2024), 2024, Changsha, China

Abstract

This paper proposes a millimeter-scale microrobot, which can be used for MIS (minimally invasive surgery) to achieve the 1-DOF (single degree of freedom) motion. The mechanism is driven by piezo-bimorphs, and the voltage is eventually converted into displacement. The dragonfly-like flapping wing amplification mechanism is adopted, which has characteristics of high precision, small size and excellent dynamic performance. In this paper, the kinematic mode of the structure is analyzed first, then the manufacturing process and processing method of the microrobot are introduced. The microrobot achieve a dimension of 22 x 22 x 23mm (excluding piezo-bimorph). Finally, open-loop experiment is conducted on the tracking performances of the microrobot by repeatedly following the vertical line trajectory. The horizontal motion range is 2.05mm, and the straightness in the stroke is 99.14%. Also, the RMS (root-mean-square) accuracy of the linear trajectory is 8.38±0.3μm. These show the high positioning accuracy and effective tracking ability of the microrobot.

(2024) Published by SPIE. Downloading of the abstract is permitted for personal use only.

Citation Download Citation

Zihang Wang, Jiaxu Shen, Jiacheng Liu, Bo Tian, Liyong Hu, and Junqiang Lou "Design and realization of a 6-rod 1-DOF robot", Proc. SPIE 13226, Third International Conference on Advanced Manufacturing Technology and Manufacturing Systems (ICAMTMS 2024), 1322612 (5 August 2024); https://doi.org/10.1117/12.3038328

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KEYWORDS

Design

Epoxies

Manufacturing

Signal processing

Surgery

Kinematics

Laser cutting

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