Design of an SMA-actuated jumping robot

High locomotion speed and energy efficiency are the most attractive characteristics of the jumping gait for small mobile robots. In this paper, the design and simulation of a lightweight jumping robot is described. We propose the use of shape memory alloy (SMA) for actuating the jumping mechanism. We also report that the robot design is inspired by vertebrates´ lower musculoskeletal system, in particular the structure of legs and the functions of muscles. SMA wires are used as artificial muscles to realize the jumping motion. A parametric dynamics simulation study is conducted to develop a suitable pattern of muscle activation. The simulation results show that the robot can jump up half of its height and move forward by about 25% of its length.