PZT actuated four-bar mechanism with two flexible links for micromechanical flying insect thorax

A four-bar mechanism with two flexible links is proposed to be used in a micromechanical flying insect robot wing thorax design for stroke amplification. PZT-5H and PZN-PT based unimorph actuators are utilized at the input link of the four-bar. The kinematics and dynamics of the proposed wing structure with two parallel four-bar mechanisms are analyzed, and DC forces generated at the wing are computed for checking the feasibility of the design. Using laser micromachining and folding techniques, prototype four-bars are constructed, and it is shown that the single four-bar structure can have 90-100° stroke motion at 29 Hz with a rigid polyester wing on it.