Abstract
This paper describes the earthworm robot composed of commercial shape memory alloy, called BioMetal. Our mechanism has the unique stracture with SF tubing for extention force. This robot aims at not only moving by changing length, but also changing thickness like real earthworm. The mechanism makes difference of a friction coefficient to the ground is produced, and the robot can move more smoothly. Finally, our robot realized a motion like earthworm by connecting units and controlling timing by the microcomputer. The robot has four units. The total length is 475[mm], and promosion speed is 3.4[mm/s].
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http://www.toki.co.jp/BioMetal/
S, Ueda, N, Saga, & T, Nakamura, (2003.7) Study on Peristaltic Crawling Robot Using Artificial Muscle Actuator. SICE Tohoku Chapter the 210th research meeting data pp.1–7.
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© 2007 Springer-Verlag London Limited
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Saito, T., Kagiwada, T., Harada, H., Kawamura, Y. (2007). Development of the Earthworm Robot using a Shape Memory Alloy. In: Towards Synthesis of Micro-/Nano-systems. Springer, London. https://doi.org/10.1007/1-84628-559-3_62
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DOI: https://doi.org/10.1007/1-84628-559-3_62
Publisher Name: Springer, London
Print ISBN: 978-1-84628-558-5
Online ISBN: 978-1-84628-559-2
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