@inproceedings{bc6d187842c745179c6b9acf3f5358c3,
title = "Classical Mechanics-based Kinematic Analysis of a Specific Microrobot",
abstract = "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.",
keywords = "Microrobot, Motion analysis, Robot kinematics",
author = "Xiao Zhang and Jingqi Wang and Kaiyun Zhu and Haiwang Li and Yanxin Zhai and Tiantong Xu",
note = "Publisher Copyright: {\textcopyright} 2024 IEEE.; 6th International Conference on Robotics, Intelligent Control and Artificial Intelligence, RICAI 2024 ; Conference date: 06-12-2024 Through 08-12-2024",
year = "2024",
doi = "10.1109/RICAI64321.2024.10911606",
language = "英语",
series = "2024 6th International Conference on Robotics, Intelligent Control and Artificial Intelligence, RICAI 2024",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "37--43",
booktitle = "2024 6th International Conference on Robotics, Intelligent Control and Artificial Intelligence, RICAI 2024",
address = "美国",
}