Mechanisms for Small and Micro Robotic Devices

Abstract

The paper deals with problems of designing and evaluation of compliant mechanisms for small and micro robotic devices. These kinematic mechanisms are usually made from a piece of elastic material in case of positioning systems, or, create the flexural body for multi-component sensing devices. The compliance characteristics mechanical segments: joints, arms, are discussed and the procedure for evaluation / comparing characteristics of particular segments, as well as whole elastic structures is proposed. It is briefly discussed that mechanisms for this kind of devices should integrate functional features of positioning and sensing systems. The concept of the x – y micro positioning mechanisms with two-component force sensing capability is presented as an illustrative example.