@inproceedings{44775d1bc5ed444ebb049e50522ffa89,
title = "3DFlex: A rapid prototyping approach for multi-material compliant mechanisms in millirobots",
abstract = "This paper describes an intuitive method for the design and fabrication of small-scale robots with multi-material compliant mechanisms in 3D. The rigid components are 3D printed, and flexures are inserted into the rigid components, creating the final mechanism. The assembled mechanisms are robust, requiring over 1 N of force to delaminate, and surviving 150,000 cycles of bending without failure. A 6 g walking quadrupedal millirobot is presented as a case study for the design and manufacturing methodology. The quadrupedal millirobot has been demonstrated moving at top speeds of 9 mm/s (0.3 body lengths/s).",
author = "Pierre, \{Ryan St\} and Noah Paul and Sarah Bergbreiter",
note = "Publisher Copyright: {\textcopyright} 2017 IEEE.; 2017 IEEE International Conference on Robotics and Automation, ICRA 2017 ; Conference date: 29-05-2017 Through 03-06-2017",
year = "2017",
month = jul,
day = "21",
doi = "10.1109/ICRA.2017.7989352",
language = "English",
series = "Proceedings - IEEE International Conference on Robotics and Automation",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "3068--3073",
booktitle = "ICRA 2017 - IEEE International Conference on Robotics and Automation",
address = "United States",
}