Design of Flexible Joint and Walking Robot Inspired by Origami

Xinyang Jiang; Yong Xu; Jiali Liu; Haoran Shi; Yunbo Jia; Jing'en Du

doi:10.16578/j.issn.1004.2539.2022.04.016

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Design of Flexible Joint and Walking Robot Inspired by Origami

Design· Calculation | 更新时间：2022-09-25

- Design of Flexible Joint and Walking Robot Inspired by Origami
- Journal of Mechanical Transmission Vol. 46, Issue 4, Pages: 106-117(2022)
- 作者机构：
  
  1.上海工程技术大学机械与汽车工程学院，上海 201620
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2022.04.016
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江新阳,许勇,刘佳莉等.折纸启发的折叠式柔性关节及步行机器人设计[J].机械传动,2022,46(04):106-117.

Jiang Xinyang,Xu Yong,Liu Jiali,et al.Design of Flexible Joint and Walking Robot Inspired by Origami[J].Journal of Mechanical Transmission,2022,46(04):106-117.
江新阳,许勇,刘佳莉等.折纸启发的折叠式柔性关节及步行机器人设计[J].机械传动,2022,46(04):106-117. DOI： 10.16578/j.issn.1004.2539.2022.04.016.

Jiang Xinyang,Xu Yong,Liu Jiali,et al.Design of Flexible Joint and Walking Robot Inspired by Origami[J].Journal of Mechanical Transmission,2022,46(04):106-117. DOI： 10.16578/j.issn.1004.2539.2022.04.016.

摘要

基于折纸折叠原理启发的新构型的开发与应用日益成为相关领域的研究热点，其中，平面折痕的设计、三维形体的折叠、构型的运动特点、自由度及与之相配合的驱动设计都是需要解决的问题。首先，在经典的Water-Bomb折纸基本单元的基础上设计出具有单自由度的非汇交折叠单元的平面折痕，将基础折痕进行组合设计以及三维折叠设计，得到两种具有一定刚度且可实现折叠运动的立体单元：可折叠式移动副、可折叠式转动副。同时，由可折叠式转动副启发设计出一种可与基础非汇交单元相配合的软体驱动，并与两种立体单元进行组合，实现了对立体单元的稳定控制；在实验中发现，软体驱动对立体单元输入角的控制可同时控制立体单元的刚度。将两种立体单元进行串联，设计出能够实现完整跨步行走动作的折纸腿及步行机器人，并实现了机器人的行走仿真实验及跨越阶梯实验，得到折纸腿在跨越阶梯时的最大裕度，验证了两种变刚度单元在行走、跨步过程中的特殊性能。

Abstract

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.

关键词

Water-Bomb折纸折纸机构折纸腿柔性驱动变刚度

Keywords

Water-Bomb origamiOrigami mechanismOrigami ledSoft actuatorVariable stiffness

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