This paper presents the moving mechanism of a high-speed insect-scale microrobot via electromagnetically induced vibration of two simply supported beams. The microrobot, which has a body length of 12.3 mm and a total mass of 137 mg, can achieve reciprocating lift motion of forelegs without any intermediate linkage mechanisms due to the design of an obliquely upward body tilt angle. The gait study shows that the body tilt angle prevents the forelegs from swinging backward when the feet contact the ground, which results in a forward friction force applied on the feet. During forward movement, the microrobot utilizes the elastic deformation of the simply supported beams as driving force to slide forward and its forelegs and rear legs work as pivots alternatively in a way similar to the movement of soft worms. The gait analysis also indicates that the moving direction of the microrobot is determined by whether its body tilt angle is obliquely upward or downward, and its moving speed is also related to the body tilt angle and as well as the body height. Under an applied AC voltage of 4 V, the microrobot can achieve a moving speed at 23.2 cm·s⁻¹ (18.9 body lengths per second), which is comparable to the fastest speed (20 cm·s⁻¹ or 20 body lengths per second) among the published insect-scale microrobots. The high-speed locomotion performance of the microrobot validates the feasibility of the presented actuation scheme and moving mechanism.

本文介绍了一种高速昆虫规模微型机器人的移动机构通过两个简支梁的电磁感应振动。该微型机器人体长为12.3毫米，总质量为137毫克，通过倾斜向上的身体倾斜角度设计，无需任何中间连杆机构即可实现前腿的往复升降运动。步态研究表明，当脚接触地面时，身体倾斜角度阻止前腿向后摆动，从而导致向前施加摩擦力作用在脚上。在向前运动时，微型机器人利用简支梁的弹性变形作为驱动力向前滑动，其前腿和后腿交替作为支点，类似于软虫的运动。步态分析还表明，微型机器人的移动方向取决于其身体倾斜角度是倾斜向上还是向下倾斜，其移动速度还与身体倾斜角度以及身体高度有关。在施加 4 V 交流电压下，微型机器人可以达到 23.2 cm·s 的移动速度⁻¹（每秒 18.9 个体长），与已发表的昆虫级微型机器人中最快的速度（20 cm·s ^-1或每秒 20 个体长）相当。微型机器人的高速运动性能验证了所提出的驱动方案和运动机构的可行性。