Abstract
In this paper, we have reported that a feasibility study of an in-liquid micro robot driven by a heat engine with Shape Memory Alloy actuator (SMA actuator) with coil-spring characteristics. There are two problems to develop micro robots with 1mm^3. Those are a sticky problem and an energy source problem. To investigate solutions of those problems, we look at the natural world and found out microbes are living in liquid. They harvest energy by eating foods and solar energy and move freely in liquid; they have already solved these two main problem. That is our motivation to research and develop micro robot which moves in liquid. In this report, we have proposed the heat engine which consists of SMA actuator and several gear wheels and pulleys. We have also analyzed the heat engine to formulate torque and power in a steady state as function of generative force. We also describe the frictional condition of starting.
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