Design and realization of a 6-rod 1-DOF robot

This paper proposes a millimeter-scale microrobot, which can be used for MIS (minimally invasive surgery) to achieve the 1-DOF (single degree of freedom) motion. The mechanism is driven by piezo-bimorphs, and the voltage is eventually converted into displacement. The dragonfly-like flapping wing amplification mechanism is adopted, which has characteristics of high precision, small size and excellent dynamic performance. In this paper, the kinematic mode of the structure is analyzed first, then the manufacturing process and processing method of the microrobot are introduced. The microrobot achieve a dimension of 22 x 22 x 23mm (excluding piezo-bimorph). Finally, open-loop experiment is conducted on the tracking performances of the microrobot by repeatedly following the vertical line trajectory. The horizontal motion range is 2.05mm, and the straightness in the stroke is 99.14%. Also, the RMS (root-mean-square) accuracy of the linear trajectory is 8.38±0.3μm. These show the high positioning accuracy and effective tracking ability of the microrobot.