Shape memory alloy (SMA) heat engines have attracted attention because of their ability to operate under low-temperature-difference conditions, showing potential for applications such as geothermal and waste-heat energy recovery. In this study, a novel multi-disc composite offset-shaft SMA heat engine was designed and fabricated. The device can achieve sustained and stable operation under relatively low-temperature-difference conditions. The output power and rotational speed of the prototype were measured through experimental tests. By combining experimental results with theoretical analysis, the effects of heat-source temperature and external load on the output power were investigated. The results show that, under the tested conditions, the output power increases with increasing heat-source temperature, while it first increases and then decreases with increasing load. In addition, the energy conversion efficiency of the heat engine was quantitatively evaluated. This study provides a feasible design and experimental reference for the development of SMA heat engines and related teaching demonstrations.

This study proposes a novel rigid inclined-plane quadruped walking robot, designed to explore the dynamic characteristics of passive walking robots. Simulation experiments were conducted using ADAMS software to verify the feasibility of achieving a stable gait and to identify optimal parameters. A physical prototype of the walking robot was fabricated using 3D printing technology for experimental exploration, revealing a clear and stable walking gait. In this paper, two mutually coupled rigid-body dynamic models are constructed to describe the dynamic process of the walking robot. Numerical solutions for period, step length, and walking speed, along with their influencing factors, are provided. During the experiments, Tracker software was utilized to analyze the robot’s motion, allowing for a quantitative analysis of the parameters affecting the system’s dynamic characteristics, thereby validating the theoretical rationality from various perspectives. This study offers new insights into the design of passive walking robots and their applications.