A layer-based manufacturing method using composite microstructures is widely used for mesoscale robot fabrication, which enables the development of a lightweight robot. However, there are limitation of embedding various types of elastic components at a desired position and angle. We developed a fabrication method for embedding an elastic component at an angled position. Sheet metal is used as an elastic component, and it is stamped layering and curing process, thereby changing the neutral position of the spring. By this fabrication method, a small scale jumping mechanism was fabricated. The robot jumps when the snap-through of the bistable mechanism occurs, which is triggered by a SMA coil spring actuator. Also, a model of the stamped sheet metal spring was built based on a PRBM to estimate the spring performance.

​

Keywords : #Jumping, #Smart material