Design and modeling of a new biomimetic earthworm robot for endoscopy actuated by SMA wires

Shape Memory Alloy (SMA) wires are widely employed in robotics, as actuators of prosthetic limbs and medical equipment. Due to advantages such as reducing the size in the application, high power-to-weight ratio and elimination of complex transmission systems and compatibility with the human body these materials are used as actuators in different types of medical robots. In this paper, a new mechanism is designed and modeled for a biomimetic earthworm robot for endoscopy with two SMA wires as actuators. The dynamic model of system has been simulated under different electrical as an input. The accuracy of robot response to achieve the preferred position is examined and compared with other results.