2. Micro robotic components and their design

The realization of microrobots comes up against the problem of miniaturization. In the early days of microrobotics, researchers attempted to miniaturize robotic architectures that had proved their worth on a macroscopic scale. However, this approach, based on the homothetic reduction of robot dimensions, had to be abandoned in most cases. In fact, the designer is faced with numerous difficulties associated with the realization of miniaturized motors and mechanisms. In addition, backlash in mechanisms and gears severely limits the microrobot's positioning accuracy. So, in modern designs, microactuators are often used to replace traditional motors, and deformable structures are substituted for mechanisms.

Generally speaking, the design of a microrobot is divided into two distinct parts, since the corresponding issues are so different:

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