An untethered mechanically-intelligent inchworm robot powered by a shape memory alloy oscillator

Shape Memory Alloy (SMA) based actuators have become ideal candidates for use in compact and lightweight applications. These smart materials often been referred to as artificial muscles due their high work volume density. In this paper, a flexure-based SMA powered mechanical oscillator is developed create an inchworm robot. Here, novel magnetic latch system used mechanically-intelligent that allows the abstraction of any sensors such temperature probes. This insect robot, weighing only 9.7 g, operates without control logic or micro-controller able perform crawling gait untethered. An analytical model thermal properties coil, sizing robot speed, step length presented validated. A working prototype, with speed 1.55 mms?1, showcased work.