A Gecko-Inspired Robot with a Flexible Spine Driven by Shape Memory Alloy Springs.

ABSTRACT: The majority of sprawling-posture quadrupedal vertebrates, such as geckos and lizards, adopt a cyclical lateral swing pattern of their trunk that is coordinated with limb movements to provide extraordinary flexibility and mobility. Inspired by the gecko's locomotory gait and posture, a gecko-like robot with a flexible spine driven by shape memory alloy (SMA) springs was proposed in this work. The static parameters of the SMA spring were experimentally measured, and the flexible spine driven by SMA springs can be deflected bidirectionally. A kinematic model of the spine mechanism was established, and the mathematical relationship between the thermodynamic behavior of the SMA springs and spinal deflection was systematically analyzed. When a gecko trots with a lateral swing pattern of its tru

SUBMITTER: Qiu J 

PROVIDER: S-EPMC10442688 | biostudies-literature | 2023 Aug

REPOSITORIES: biostudies-literature