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Cockroach Milli-Robot With Improved Load Capacity

Title
Cockroach Milli-Robot With Improved Load Capacity
Authors
Yun, DongwonFearing, Ronald S.
DGIST Authors
Yun, Dongwon
Issue Date
2019-06
Citation
Journal of Mechanisms and Robotics, 11(3), 035001
Type
Article
Article Type
Article
Keywords
DeformationKinematicsRobotsAlternative materialsFabrication processFlexure jointsLaminate structuresLoad capacityMechanism designOff-axis loadingSmart compositesMachine design
ISSN
1942-4302
Abstract
In the field of milli-robots, several methods of constructing robots by laminating materials and then folding have been developed. Among these methods, smart composite microstructures (SCM) is widely used for making lightweight small mobile robots. However, in the case of a robot manufactured by the SCM method, due to flexible and easily deformable links and joints, it is often difficult to obtain proper kinematic movement due to deformation of the structure when a heavy load is applied. In this paper, studies on the mechanism design and manufacturing were carried out to increase the load capacity of robots manufactured by SCM. First, we modified the kinematics of the robot to reduce off-axis loading on flexure joints by using a planar 6 bar leg mechanism, which was fabricated using a new multilayer SCM process. Second, the fabrication process is improved to reduce peeling of laminate structures by introducing integrated rivets at joints. Finally, alternative materials, such as balsa, are used. To verify the design and fabrication improvements, we compared the payloads after applying the proposed methods to an existing cockroach robot design. Compared to the previous design, speed with a 50-g payload increased from 7 to 30 cm per second. © 2019 by ASME.
URI
http://hdl.handle.net/20.500.11750/10054
DOI
10.1115/1.4042626
Publisher
American Society of Mechanical Engineers
Related Researcher
  • Author Yun, Dongwon Bio Robotics and Mechatronics Laboratory
  • Research Interests Biomimetic Robot; Soft Robotics; Robot elementary technology : Sensors and actuators; Study on the medical application; Study on the industrial application
Files:
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Collection:
Department of Robotics EngineeringBio Robotics and Mechatronics Laboratory1. Journal Articles


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