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Micro Self-reconfigurable Modular Robot Using Shape Memory Alloy
Eiichi Yoshida, Satoshi Murata, Shigeru Kokaji, Kohji Tomita, and Haruhisa Kurokawa
Mechanical Engineering Laboratory, AIST, MITI, 1-2 Namiki, Tskuba-shi, Ibaraki, 305-83564 Japan
Received:October 2, 2000Accepted:January 4, 2001Published:April 20, 2001
Keywords:self-reconfiguration, modular robotic system, micro-robot, SMA actuator
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 show an extended 3-dimensional (3D) model and discuss a distributed self-reconfiguration algorithm for large modular structures.
Cite this article as:E. Yoshida, S. Murata, S. Kokaji, K. Tomita, and H. Kurokawa, “Micro Self-reconfigurable Modular Robot Using Shape Memory Alloy,” J. Robot. Mechatron., Vol.13 No.2, pp. 212-219, 2001.Data files:
Copyright© 2001 by Fuji Technology Press Ltd. and Japan Society of Mechanical Engineers. All right reserved.