【摘要】 泳动微机器人模仿鱼类游泳的方式驱动。文中利用柔性铰链和差式杠杆放大原理，设计了用于微位移 放大的泳动微机器人主体机构，并且在ＡＮＳＹＳ软件仿真的基础上，对微机器人主体机构的放大性能 进行了研究。研究表明在主体机构中适当减小柔性铰链转角刚度，可以显著改善微位移放大效果。更多还原

【Abstract】 The swimming microrobot resembles the fish to drive itself . This paper designs the main mechanism of the swimming microrcbot by combining the flexible hinge with the theory of differential lever and studies the magnifying performance of the main mechanism basis on the ANSYS software resembling. The resembling points out that the effection of the main mechanism magnifying performance will be improved seriously while the stiffness of flexible hinge of main mechanism is decreased properly.更多还原