According to the law of the inchworm movement

a new type of micro-robot is designed. The body structure which can realize bending deformation by simulating the body structure of the inchworm is designed. The shape memory alloy（ SMA） spring is used to simulate the structure of the trunk corresponding to the muscle of the inchworm. In order to verify the rationality of the designed micro-robot

SMA spring and micro-robot prototype are made. The control parameters of the micro-robot are determined by thermomechanical analysis. The experimental test system is built to carry out the experiment. The experimental results show that the crawling speed reaches4. 1 mm/s when heating time of which the micro-robot is 2. 7 s. The designed micro-robot can move in the bionic movement of the inchworm

indicating the feasibility of the designed micro-robot

provides new ideas for the design of micro-robots.