According to the movement law of inchworm

a kind of miniature inchworm soft robot is designed

which is driven by shape memory alloy（SMA）spring to imitate inchworm muscle

and the robot is driven by periodic electric current to move continuously.In order to verify the feasibility of the designed miniature inchworm robot

a prototype of the robot was made

and the maximum crawling speed of the robot on mouse pad

wood board and cardboard was tested by motion experiments

as well as the relationship between the crawling speed and the frequency and duty cycle of the driving current.The experimental results show that the designed micro-bionic soft robot can imitate the inchworm to complete the continuous crawling movement under the periodic drive of electric current

and the maximum crawling speed can reach 3.5 mm/s

indicating the feasibility of the designed micro-bionic soft robot and providing a reference for the further research of micro-bionic robot.