They operate through the flexure hinges, using the wedge as a fixed fulcrum.
The next objective is to build this microrobot with flexure joints.
In their control algorithm the self-motion was used to compensate and damp out flexure motion.
With respect to selected nodes, the flexure motion equation can be altered as shown in equation (26).
In modal space, the dynamic effects of self-motion on the flexure motion of manipulators was investigated.
Figure 8 represents the vibration mode of the flexure motion defined in equation (19).
These flexures were instrumented with resistance strain gauges and arranged so as to measure the force in the direction of the aerofoil chord.
One of the beads is held in an optical trap while the other is held on a micropipette mounted on a piezoelectric flexure stage.
