Helical Kirigami-Enabled Centimeter-Scale Worm Robot With Shape-Memory-Alloy Linear Actuators

This work is to introduce the shape-memory-alloy (SMA) as an actuator to an origami parallel mechanism as a section of a novel worm robot. The work presents the design and manufacture of this active origami mechanism and the integrated SMA linear actuators for the worm robot. The use of SMA coil spring actuators provides a novel actuation method using linear actuators for parallel structures composed of only revolute joints, leading to actuation transference between rotary input and linear input. The presented principle of folding a flat sheet to a 3D structure is a step change approach to design and manufacture of fully-integrated robotic mechanisms.