Wissa, AimyMoreira-Behrens, Adrian2025-08-132025-08-132025-04-26https://theses-dissertations.princeton.edu/handle/88435/dsp01pz50h057jThe OSCAR (Origami-enabled Soft Crawling Autonomous Robot) system, developed in the Bio-inspired Adaptive Morphology (BAM) Lab, utilizes Kresling pattern origami towers to achieve caterpillar-inspired rectilinear motion. However, it previously lacked a remotely activated detachment mechanism between modules. This project presents the design, implementation, and testing of a Shape Memory Alloy (SMA) based detachment mechanism for OSCAR. SMAs serve as lightweight actuators when coiled and activated by electrical current. The mechanism combines an optimized magnetic configuration with a geared SMA spring wire actuation system, providing a reliable method for separating connected modules while maintaining strong attachment during normal operation. The mechanism serves as a first step toward more robust, field-deployable versions of the OSCAR modular robotic system.en-USPrinceton University Senior Theses