Modeling and Implementation of Compliant Hinge for Micro Robots

When assembling micro systems, since micro robots have a lots of parts and their size is small, assembling these parts is difficult. By using compliant hinges, which integrate elastically deformable parts and non-deformable structural parts, assembly is simplified and the number of parts is significantly reduced. Since the center of rotation moves during deformation of the compliant hinge, its correct behavior cannot be estimated as a link mechanism. In this study, we measured the transition of the center of rotation using a fabricated compliant hinge and proposed a solid motion model of the compliant hinge. As an application example, we designed a six-legged walking robot using our proposed compliant hinge model.