Abstract
In this paper, we propose a hybrid microrobot concept to increase dynamic efficiency and adapt these systems for use in various working environments. The microrobot consists of a head capable of spiral motion, legs capable of paddling motion, and fish-like fins. We developed a prototype with a rotatable head and a body that has legs and fins. Additionally, we developed a control system and carried out experiments to evaluate its characteristics. The experimental results indicated that the head of the microrobot with spiral motion can achieve a movement speed of 58 mm/s and rotation speed of 87 rad/s, respectively, and the prototype of the leg has a maximum displacement of 3.7 cm. The experimental results also demonstrated a number of advantages of the microrobot, such as rapid response, movement stability, and wireless operability. This type of hybrid microrobot may be useful in both industrial and medical applications, such as microsurgery.
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