Microrobotic leg with expanded planar workspace

A microrobotic leg actuated with amplifying mechanisms is developed in this letter to mimic the motion of legs natural organisms on small scale. The device has a planar structure and fabricated bulk micromachining. Two electrothermal actuators are used drive back forth workspace. actuator transmitted elastically using flexible arms. mechanism symmetrical similar standard parallel manipulators but deformable parts instead joints. at tip side further amplified by blocking its other stoppers, resulting an extended range tip. Finite element simulations experimental tests prototypes demonstrated efficient operation proposed design. unique characteristics mechanism, including large force displacement, multiple degrees freedom, compatibility micromachining, enhance power, control, mobility autonomy legged microbots.