%0 Journal Article
	%A Y.J. Lai and  H.Y. Peng and  M.W. Wu and  J. Shaw
	%D 2011
	%J International Journal of Mechanical and Mechatronics Engineering
	%B World Academy of Science, Engineering and Technology
	%I Open Science Index 49, 2011
	%T Research and Development of a Biomorphic Robot Driven by Shape Memory Alloys
	%U https://publications.waset.org/pdf/11269
	%V 49
	%X In this study, we used shape memory alloys as
actuators to build a biomorphic robot which can imitate the motion of
an earthworm. The robot can be used to explore in a narrow space.
Therefore we chose shape memory alloys as actuators. Because of the
small deformation of a wire shape memory alloy, spiral shape memory
alloys are selected and installed both on the X axis and Y axis (each
axis having two shape memory alloys) to enable the biomorphic robot
to do reciprocating motion. By the mechanism we designed, the robot
can increase the distance as it moves in a duty cycle. In addition, two
shape memory alloys are added to the robot head for controlling right
and left turns. By sending pulses through the I/O card from the
controller, the signals are then amplified by a driver to heat the shape
memory alloys in order to make the SMA shrink to pull the mechanism
to move.
	%P 104 - 107