Micro Self-Reconfigurable Robotic System using Shape Memory Alloy

This paper presents micro self-reconfigurable modular robotic systems using shape memory alloy (SMA). The system is designed so that various shapes can be autonomously formed by a group of identical mechanical units. The unit realizes rotational motion by using an actuator mechanism composed of two SMA torsion coil springs. We have realized micro-size prototype units and examined their fundamental functions by experiments. An extended 3D system and its self-reconfiguration algorithm are also discussed.

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