Design of Flexible Joint and Walking Robot Inspired by Origami
The development and application of new configurations inspired by the folding principle of origami is increasingly becoming a research hotspot in related fields. Among them，the design of plane crease，the folding of three-dimensional shape，the motion characteristics of configuration，the degree of fre...
| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | zho |
| Published: |
Editorial Office of Journal of Mechanical Transmission
2022-04-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2022.04.016 |
| Summary: | The development and application of new configurations inspired by the folding principle of origami is increasingly becoming a research hotspot in related fields. Among them，the design of plane crease，the folding of three-dimensional shape，the motion characteristics of configuration，the degree of freedom and the corresponding driving design are all scientific problems to be solved. Based on the classic Water-Bomb origami basic unit，the plane crease of the non-convergence foldable unit with single degree of freedom is designed. The combination design and three-dimensional （3D） folding design of the basic crease are carried out，and two kinds of 3D units with certain stiffness and folding motion are obtained，namely the foldable prismatic pair and the foldable rotation pair. At the same time，inspired by the foldable rotation pair，a software actuator cooperating with the basic non-convergence unit is designed，and combined with two kinds of 3D units，a stable control of the 3D units is realized. In the experiment，it is found that the control of the input angle of the 3D unit by the software actuator can control the stiffness of the 3D unit simultaneously. The origami leg and walking robot are designed by connecting the two kinds of three-dimensional units in series，and the walking simulation experiment and the step crossing experiment of the robot are implemented. The maximum margin of the origami leg of crossing the step is obtained，and the special performance of the two kinds of variable stiffness units in the process of walking and stepping is verified. |
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| ISSN: | 1004-2539 |