A Modular Folded Laminate Robot Capable of Multi Modal Locomotion

A Modular Folded Laminate Robot Capable of Multi Modal Locomotion

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This paper describes fundamental principles for two-dimensional pattern design of folded robots, specifically mobile robots consisting of closed-loop kinematic linkage mechanisms. Three fundamental methods for designing closed-chain folded four-bar linkages – the basic building block of these device...

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Bibliographic Details
Main Authors: Koh, Je-sung, Aukes, Daniel M., Araki, Brandon, Pohorecky, Sarah, Mulgaonkar, Yash, Tolley, Michael T., Kumar, Vijay, Rus, Daniela, Wood, Robert J.
Format: Article
Language:English
Published: Springer International Publishing 2021
Online Access:https://hdl.handle.net/1721.1/137211
Description
Summary:This paper describes fundamental principles for two-dimensional pattern design of folded robots, specifically mobile robots consisting of closed-loop kinematic linkage mechanisms. Three fundamental methods for designing closed-chain folded four-bar linkages – the basic building block of these devices – are introduced. Modular connection strategies are also introduced as a method to overcome the challenges of designing assemblies of linkages from a two-dimensional sheet. The result is a design process that explores the tradeoffs between the complexity of linkage fabrication and also allows the designer combine multiple functions or modes of locomotion. A redesigned modular robot capable of multi-modal locomotion and grasping is presented to embody these design principles.

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