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Multidirectional Planar Motion Transmission on a Single-Motor Actuated Robot via Microscopic Galumphing
Lingqi Tang1, Chenghao Wang1, Songsong Ma1
1School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen, 518055, China.
Advanced Science (Weinheim, Baden-Wurttemberg, Germany)
|December 14, 2023
Summary
This study introduces a novel transmission for insect-scale robots, enabling agile movement with a single actuator. The new design allows for precise planar locomotion and efficient crawling in confined spaces.
Area of Science:
- Robotics
- Mechanical Engineering
- Micro-robotics
Background:
- Insect-scale robots offer potential for tasks in confined environments.
- Current designs face limitations in miniaturization (complex actuators) or agility (single actuator).
Purpose of the Study:
- To develop a novel motion transmission system for agile, miniaturized insect-scale robots.
- To enable precise planar locomotion using a simplified underactuated design.
Main Methods:
- Introduction of an eccentric rotation-dependent multidirectional transmission.
- Utilizing a tilted eccentric motor and a two-legged structure.
- Modulating motor speed to achieve microscopic jumping locomotion ('galumphing').
Main Results:
- Demonstrated effective direct motion transmission for multidirectional crawling (left/right, forward).
- Developed a 1.2g untethered robot exhibiting enhanced crawling and spot turning.
- Validated precise movement capabilities in experimental settings, including narrow tunnel traversal.
Conclusions:
- The proposed motion-transmission technique offers innovative solutions for underactuated agile robots.
- This approach overcomes miniaturization constraints while maintaining high maneuverability.
- The 'galumphing' locomotion provides a viable method for insect-scale robot navigation.
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