WALKING INSECTOMORPHOUS MOBILE MICROROBOT

摘要

FIELD: robotics.;SUBSTANCE: invention relates to microrobotics, namely to walking mobile microrobots, and is intended for performance of works in extreme situations, mainly in conditions of open space, zero-gravity, microgravity and tasks of on-plan missions. Walking mobile microrobot comprises a body, a motion control system and a propulsor in the form of legs driven by thermomechanical microactuators. Each leg is made in the form of a zigzag of four orthogonally connected beams. First beam is fixed perpendicular to the side surface of the case. Second beam is parallel to side surface of housing at an angle of at least 30 angular degrees to displacement surface and is oriented in direction of movement of microrobot. Third beam is made of two parts interconnected by hinge. And to the fourth beam there is a hinged foot joint consisting of pins equipped with thermomechanical actuators. All but the first beams are equipped with thermo-mechanical microactuators. Microrobot has at least six legs.;EFFECT: invention provides an increase in the possibility of adaptation to a surface having a complex profile.;4 cl, 5 dwg