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首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >Diversified and Untethered Motion Generation Via Crease Patterning from Magnetically Actuated Caterpillar-Inspired Origami Robot
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Diversified and Untethered Motion Generation Via Crease Patterning from Magnetically Actuated Caterpillar-Inspired Origami Robot

机译：通过船舶驱动的毛毛虫鼓励折纸机器人的折痕图案化多样化和不受限制的运动。

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摘要

Untethered annelids-inspired soft robots can be used in space-confined compliant interactions where remote actuation is necessary. In contrast to their fully-soft counterparts, incorporating origami concepts can streamline modeling and control while maintaining compliance. However, more comprehensive untethered locomotions from a single deployable robot remain research challenges, and there are only limited motion generation mechanisms available. This article presents the design and actuation of a caterpillar-inspired biomimetic origami robot prototype. We created an open triangular spring model by the programmable origami backbone for its stability and tunable elasticity. Remotely actuation with internal and external permanent magnets can achieve various types of origami terrestrial locomotion. The prototype can deform and compress up to 26.7% of its original length, and offer six different types of locomotion capabilities, demonstrating its versatility. A description of the design, programmable crease analysis, and actuation method of the robot is provided in this article. We further analyzed and demonstrated its various motion and functional capabilities and validated various performance parameters, such as speed and force bearing capabilities. The normalized velocity of the proposed prototype (0.10 to 0.15) is comparable to most of the speeds achieved by similar motions in other representative works as covered in the article, demonstrating that versatile motions can be achieved without sacrificing speed performance.
机译：不受限制的Annelids-Inspired软机器人可用于空间限制兼容的相互作用，其中需要远程致动。与其完全软的对应物相比，并入折纸概念可以在保持合规性的同时简化建模和控制。但是，从单一可部署机器人的更全面的不受限制的运动仍然是研究挑战，并且只有有限的运动产生机制可用。本文介绍了毛毛虫灵感的仿生折纸机器人原型的设计和致动。我们通过可编程折纸骨架创建了一个开放式三角形弹簧模型，以实现其稳定性和可调弹性。使用内部和外部永磁体进行远程驱动，可以实现各种类型的折纸陆地运动。原型可以变形并压缩其原始长度的26.7％，并提供六种不同类型的运动能力，证明其多功能性。本文提供了对机器人的设计，可编程折痕分析和致动方法的描述。我们进一步分析并展示了其各种运动和功能能力，并验证了各种性能参数，例如速度和力轴承能力。所提出的原型（0.10至0.15）的标准化速度与制品中覆盖的其他代表性作品中的类似运动所实现的大多数速度相当，证明可以在不牺牲速度性能的情况下实现多功能动作。

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