A Snake Robot Using Shape Memory Alloys

Abstract

Shape memory alloys (SMAs) are materials that have the ability to return to their predetermined shapes when heated. Using electrically heated SMAs, actuators can be designed for motion and force control. In this paper, the development and testing of a snake robot that uses SMAs as actuators is presented. An eight-segment robot is designed to move similar to the rectilinear motion of a natural snake. A pair of SMA wires are implemented into each segment. One of the SMA wires in each segment is heated at a time, and it acts like a muscle to change the shape of the segment. A sequence of activation for the SMA wires is designed for the robot to move forward and backward. A prototype robot is built, and it can move well with the desired locomotion