They don’t get hurt no matter how far they fall. Compared to their tiny mass they have a pretty large area, so they feel a lot of drag when falling. They never get as fast as a human would. If we would fall as slow as ants we could just walk away, too.
In addition, smaller animals are generally stronger relative to their mass and ants are no exception. A human muscle might have to move an arm or a leg that is somewhere from half a meter to one meter long. An ant muscle only needs to move something 1-2 millimeters long, which is much easier.
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