Abstract:The flower robot, a household service robot, has been main focus of our research. Generally, the flower robot has the appearance of a common flower which consists of the petal, the stem, and the leafage. Besides having the appearance of a flower, the flower robot has the following functions, such as a moving mechanism, a sensing ability, and a home appliance function. Especially, the moving function is very important function among the various functions. The moving function of flower robot consists of the bending of stem, the blooming of petal and the stirring of the leafage. This paper, focuses on the movement of the flower robot structure. As an actuator for flower structure, coil type Shape Memory Alloy (SMA) is adopted and silicone stem, petal and leafage structures with 6 coil type SMA are proposed. Firstly, using SMA actuator, the flower structure are designed and fabricated. Secondly, the kinematic equation such as stem, petal and leafage are derived. Then, through the kinematic equation the control system can be designed to drive the flower robot by Dspace. Finally, through the experiment, the feasibility of the system is proven, and its performances are evaluated.