Based on System Driven by SMA of The Micro Robot

Abstract

A novel wheeled micro robot driven by SMA is put forward in the paper. The robot's special rigid/elastic coupling structure not only increases its moving speed greatly, but also enables the robot to turn initiatively, which overcomes some disadvantages of many SMA micro robots to a certain extent. On the same time, the robot realizes its bidirection movement by eccentric wheel self-locking mechanisms and corresponding parallelogram changing-direction mechanisms. Furthermore, the worming robot's control system is presented in the paper.