Classical Mechanics-based Kinematic Analysis of a Specific Microrobot

Detailed kinematic analysis is a necessary part of microrobot research, which is an important reference for the selection and determination of robot structural parameters, the optimisation analysis of motion performance, and the selection of robot control strategies. In this paper, we derive detailed equations of motion for a microrobot with bionic inchworm motion based on the theory of classical mechanics, thus obtaining a theoretical design method for a microrobot based on low-frequency motion performance. Comparison of the predicted kinematic data of the microrobot with the experimental data using the theoretical formulas revealed an error of less than 6.1%. This results in a theoretical kinematic predictive design method for microbots, which can provide a reference for the design of such inchworm-type microbots.