| Citation: | ZHAO Weizhi, LI Shijia, SONG Shizhe, et al. Micro high-speed bionic robot[J]. Journal of Aerospace Power, 2025, 40（11）：20230145 doi: 10.13224/j.cnki.jasp.20230145
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A micro high-speed bionic robot was designed and fabricated based on a 3.5 mm×3 mm×3 mm micro-electro-mechanical-systems (MEMS) miniature linear motor. With a thrust coefficient of 13 mN/A, the motor had advantages of microscale dimensions and large stroke output. A linkage-free locomotion mechanism was developed to reduce the complexity of conventional transmission systems, enhancing the motion efficiency and flexibility. A three-part leg structure—composed of a front leg, a rear leg, and limiter—was implemented. Multi-parameter coupled simulations identified an optimal angle combination of angles between the front leg, the rear leg and the ground are 95° and 80° respectively. A high-friction surface inspired by tree frogs was introduced. Fabricated via polydimethylsiloxane (PDMS) soft lithography, the structure increased the friction coefficient by 2.5 times and exhibited less than 10% degradation under wet conditions, significantly improving the ground adhesion and stability in complex environments. With overall dimensions of 5 mm×5 mm×4 mm and a mass of 88 mg, the robot achieved a maximum speed of 48 body lengths per second, demonstrating outstanding locomotion performance under optimal operating conditions (0.45 A, 90 Hz).
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