Mobile Robot Obstacle Navigation using Shape Memory Alloy
This paper presents the feasibility of wheeling and hopping movement combinations to build a wheeling-hopping robot. A Shape Memory Alloy (SMA) is employed to construct the wheeling-hopping combination robot, and its nonlinear character is used in the proposed spring-mass model for the robot. This procedure serves as the basis for the development of the prototype. The combination of the hopping movement and the wheeling movement can greatly enhance the robot's maneuverability. The character of the SMA hopping mechanism was analyzed and then used in the proposed spring-mass model for the robot. The use of SMA helps to eliminate the complexity and high cost of the previous design. The results showed that the robot has a strong locomotive and survival ability.
Keywords - Shape Memory alloy, Spring, Robot, Navigation, SMA spring, Jumping Robot, Thermo-electric Peltier module