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Snake Robot with Motion Based on Shape Memory Alloy Spring-Shaped Actuators.

Ricardo Cortez¹, Marco Antonio Sandoval-Chileño², Norma Lozada-Castillo¹

¹Unidad Profesional Interdisciplinaria en Ingeniería y Tecnologías Avanzadas, Instituto Politécnico Nacional, Mexico City 07340, Mexico.

Biomimetics (Basel, Switzerland)

|March 27, 2024

Summary

This study introduces a novel snake-like robot actuated by shape memory alloys (SMAs). The robot

Keywords:

hyper-redundant robotics shape memory alloy snake robot

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Area of Science:

Robotics
Materials Science
Mechanical Engineering

Background:

Snake-like robots offer unique locomotion capabilities.
Shape memory alloys (SMAs) provide compact and powerful actuation.
Modular designs enhance robot maintainability and adaptability.

Purpose of the Study:

To design and evaluate a prototype snake-like robot using SMA actuators.
To develop a modular robotic system with SMA-based agonist-antagonist mechanisms.
To create a mathematical model for controlling the robot's motion.

Main Methods:

Modular link construction with Cardan joints.
SMA spring-shaped actuators for agonist-antagonist mechanisms.
Development of a mathematical model for an independent joint controller.
Implementation of a central pattern generator for gait tracking.

Main Results:

Successful actuation and motion generation using SMA springs.
Verification of joint feasibility and shape change for snake gaits.
Demonstration of a functional robotic system with SMA actuators.

Conclusions:

The proposed SMA-actuated snake robot is feasible for generating snake gaits.
Modular design allows for easy replacement of SMA actuators.
Further studies should address identified drawbacks for improved performance.