MICROROBOT, AND ASSOCIATED CONTROL METHOD, SIMULATION METHOD, AND COMPUTER PROGRAMS

摘要

The invention relates to a microrobot (2) that is microfabricated using micro-electromechanical system technology, including i pairs of drive modules (6, 8, 10, 12, 14, 16), wherein i ranges from 1 to n, where n is no less than 1, the microrobot (2) comprising: a mounting (4) arranged so as to support at least two drive modules (6, 8, 10, 12, 14, 16) aligned in a first direction (x), said drive modules forming a pair of drive modules; i pairs of primary connecting-rod assemblies (22, 24, 26, 28, 30, 32), each primary connecting-rod assembly being pivotably connected to the drive pin (56) of a drive module of the ith pair of drive modules; a pair of secondary connecting-rod assemblies (18, 20), each secondary connecting-rod assembly being pivotably connected to the primary connecting-rod assembly of the nth pair of drive modules and to the mounting (4); and an actuating member (33) pivotably connected to each secondary connecting-rod assembly (18, 20).