Abstract
In this paper, a novel miniature-step mobile robot with three degrees of freedom (DOFs) isdeveloped based on the inchworm principle. This device, driven by a piezo stack actuator,utilizes a rhombic flexure hinge mechanism and four electromagnetic legs to achieve largestroke translation and rotation with high resolution on a platform. The design process ofthe rhombic flexible frame and the electromagnetic legs is described. The electric circuitsfor generating appropriate voltage signals are designed to control the legs to clamp to andrelease from the platform. In order to investigate the motion characteristics of the device, aseries of experiments was carried out. The experimental results confirm that thedevice is capable of performing a 3-DOFs motion with a high resolution on aplatform. Furthermore, the platform loading capacity allows some additional deviceslike a gripper or any other device for a particular application to be mountedon board. This enables the device’s potential in a wide variety of applications.
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