Micro Self-reconfigurable Modular Robot Using Shape Memory Alloy

Eiichi Yoshida, Satoshi Murata, Shigeru Kokaji, Kohji Tomita, Haruhisa Kurokawa
2001 Journal of Robotics and Mechatronics  
This paper presents a micro self-reconfigurable modular robotic system using shape memory alloy (SMA) actuators. Composed of identical robotic modules, the system can actively configure various structures. The motion of module is based on 2-dimensional rotation using an actuator mechanism with 2 SMA torsion coil springs. The micro-module measures 2cm cube and weighs 15g, half the size of the previous model. The feasibility of reconfiguration was demonstrated using micro-robotic modules. We also
more » ... show an extended 3-dimensional (3D) model and discuss a distributed self-reconfiguration algorithm for large modular structures.
doi:10.20965/jrm.2001.p0212 fatcat:y5ztjr6mj5e7vpn6xklnpiehei