Omegabot : Biomimetic inchworm robot using SMA coil actuator and smart composite microstructures (SCM)

摘要

Many researchers have developed various robots with novel gaits that can travel on rough terrain where conventional vehicles or other robots cannot. Many of these robots are bio-inspired since there is lots of amazing locomotions in nature that enable movement through various obstacles. This paper presents a robot based on the motion of ascotis selenaria, a type of inchworm with a locomotion that has an omega shape bending motion in between the extension motions. This type of inchworm can travel approximately its body length per stroke on a rough surfaces, leaf edges and branches of trees. The robot is built with smart composite microstructures, a fabrication method that uses laser micromachining to cut composites and assemble them into micro structures. The robot is actuated with a single shape memory alloy coil actuator. This robot can be used for search and rescue or gathering useful information in an area where only small scale robots can penetrate.