A prototype micro-wheeled-robot using SMA actuator

Abstract The design of a shape memory alloy (SMA) driving micro-wheeled-robot is presented in this paper, which has a 45 mm ×15 mm ×30  mm size. The paper shows the design principles of a resilient-rigid coupling SMA actuator (RRSA). The advantage of RRSA is to enlarge the displacement output apparently compared with ordinary SMA linear actuators. Instead of following the traditional motion mechanism of legged-structure, the motion of the micro-robot is implemented by the wheel rotating mechanism, which consists of rolling structures and a type of self-locking device. Combined RRSA with wheel rotating mechanisms, the micro-robot moves at the speed of 50 mm/min and climb the slope less than 30°.

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