Syeda, Samia and Wahid, Azni Nabela and Abdullah, Ermira Junita (2026) Shape memory alloy (SMA) based worm-like soft robot with passive anchoring mechanism. In: 2026 10th International Conference on Mechatronics Engineering (ICOM), 8-9 September 2026, Kuala Lumpur.
![[img]](https://irep.iium.edu.my/style/images/fileicons/application_pdf.png) |
PDF
- Published Version
Restricted to Repository staff only Download (1MB) | Request a copy |
Abstract
Worm-like robots, which mimic biological locomotion, are well-suited for navigating confined and irregular environments. However, many existing worm robot designs face limitations such as bulky actuator, complex control system and slow response. This paper presents the development of a compact, compliant inchworm-inspired soft robot driven by shape memory alloy (SMA) spring actuators. The proposed design features EcoFlex 00-30 silicone body equipped with SMA spring actuators and passive friction-enhancers to achieve twoanchor inchworm locomotion through cyclic heating and cooling of the SMA actuator. Finite element analysis (FEA) was leveraged to evaluate structural geometries, confirming that a central triangular hollowed section exhibited substantially greater deformation and horizontal displacement than the rigid sawtooth design. Physical prototypes were fabricated and evaluated across various stiffness profiles, actuator placement and passive anchoring configurations. From empirical testing, it is discovered that the prototype with the laminate sheet insertion and the angle-based friction enhancing mechanism exhibited a peak locomotion speed of approximately 0.45 mm/s under a bang-bang thermal control strategy. For future improvement, the speed can be enhanced through external cooling mechanism for the SMA actuator, implementing closed-loop control for adaptive actuation, optimizing anchoring mechanisms to minimize slippage, and advancing the design toward untethered operation for practical deployment in confined environments.
| Item Type: | Proceeding Paper (Plenary Papers) |
|---|---|
| Uncontrolled Keywords: | soft robotics, shape memory alloy actuator, biomimetic locomotion, passive friction |
| Subjects: | T Technology > T Technology (General) |
| Kulliyyahs/Centres/Divisions/Institutes (Can select more than one option. Press CONTROL button): | Kulliyyah of Engineering Kulliyyah of Engineering > Department of Mechatronics Engineering |
| Depositing User: | Dr. Azni Nabela Wahid |
| Date Deposited: | 27 Oct 2026 15:34 |
| Last Update: | 27 Oct 2026 15:34 |
| Queue Number: | 2026-10-Q5836 |
| URI: | http://irep.iium.edu.my/id/eprint/132260 |
| Indexed In: | Google Scholar |
Actions (login required)
 |
View Item |