A Micro/ Miniature Six Leged Robot Driven by SMA Wires

When a rotary articulated arm in a limited space is driven by SMA wires,its output angle dis- placementis often not enough.Two measures were proposed to resolve this problem,one is to induce the articulated radium of the rotary joint,compensate the inadequate outputangle displacement by the abun- dant outputforce;anotheris to distribute the SMA wiresin the usable space3- dimentionally,increase the length of the SMA wires.A six- legged walking robot driven by SMA wires was developed.The distribu- tion and the structure of the limbs accord with bionicsand theoutline size of the robotis2 5mm× 2 5mm× 2 5mm.A control method thatcan realize the static walk of the robotwas introduced.