Abstract
AbstractThis paper presents the micromotion analysis of five‐bar linkages and demonstrates the approximate linearity of motion transmission of five‐bar mechanisms within a micromotion range. A novel walking mechanism used for a microrobot and a small‐scale gripper with a high transmission ratio are introduced, based on the flexure‐hinge five‐bar mechanism analysis. Results of numerical simulation show the validity of design and analysis on the introduced mechanisms and the feasibility of corresponding thoughts. The presented micromotion‐based robot mechanisms are devoid of friction and fitting errors, and particularly suitable for microrobot applications. © 2004 Wiley Periodicals, Inc.
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