Nano Archive

An earthworm-like micro robot using shape memory alloy actuator

Kim, Byungkyu and Lee, Moon Gu and Lee, Young Pyo and Kim, YongIn and Lee, GeunHo (2006) An earthworm-like micro robot using shape memory alloy actuator. Sensors and Actuators A: Physical, 125 (2). 429 - 437.

Full text is not hosted in this archive but may be available via the Official URL, or by requesting a copy from the corresponding author.

Official URL:


A novel bio-mimetic micro robot with wireless control and wireless power supply using shape memory alloy (SMA) actuator is developed. There have been many kinds of mobile micro robot using the micro actuators such as ionic polymer metal composite (IPMC), micro motors and piezo actuators. These actuators generally require electric cable for power supply, which might highly influence the mobility of the micro robot. Therefore, a perfect wireless micro robot comprising telemetry and batteries is realized using only one SMA spring actuator and one silicone bellow. The SMA actuator and bellow play a role in contraction and extension of an earthworm muscle respectively. Based on theoretical analysis, specifications of a SMA actuator and a bellow are properly selected. For temporal stopping, setae of earthworm mimicked claws are employed. On the issue of control, the proposed robot is controlled according to On/Off signal via wireless communication. The operation is customized through tuning of on-/off-time of an actuator and using different type batteries such as a lithium, silver oxide and alkaline battery. After the design and experiment, we find out that the earthworm-like micro robot without wired power supply and control can move freely without limitation of working space and be fabricated easily.

Item Type:Article
Uncontrolled Keywords:Locomotion; Bio-mimetic; Earthworm; Shape memory alloy; Micro robot
Subjects:Engineering > Nanotechnology applications in mechanical engineering
Analytical Science > Nanotechnology for sensing and actuating
ID Code:4667
Deposited By:SPI
Deposited On:08 Apr 2009 17:11
Last Modified:08 Apr 2009 17:11

Repository Staff Only: item control page