2-Photon Polymerization (2PP) 3D printing has allowed several interesting fabrication processes for microrobots. However, the use of 2PP for micromanipulators to create the largest workspace possible at small scale, and generate controllable, repeatable and multi-DoF movement capable of applying substantial forces is still an open question. Toward this goal, we investigate the behavior of 3D 100 \(\upmu \) m-scale tethered microrobots made with bi-material 2PP printing. Volumes of pNIPAM are used as actuators in an IP-S flexible mechanism, which takes the function of a structural skeleton of the microrobots. The force and displacement capabilities of pNIPAM actuators are studied experimentally and through Finite Element Modelling (FEM), revealing promising capacities in displacement and forces (measured contraction up to 30%, force up to 166 \(\upmu \) N). The behavior of pNIPAM-actuated IP-S flexible mechanisms is investigated. The angular movement of pNIPAM-actuated IP-S rotational beam joint with varying dimensions was studied, and a max joint rotation of 23° was observed. Furthermore, a repeatable 80 \(\mu \) m long motion was demonstrated on a 300 \(\mu \) m long RR robot mechanism during 5 actuation cycles. Last, actuated 3D mechanisms are demonstrated with three 100 \(\upmu \) m grippers with two jaws oriented 45° around x, 45° around x and y, and three vertical jaws.
