Design Of A Robot With Four Legs Based On Origami Considering On Material Thickness

The folding mechanism because of its small footprint and flexible mechanism is widely used in many engineering projects,to create a series of sophisticated equipment and plate folding mechanism,but also for the field of architectural design has created many extraordinary design of space structure.At the same time,folding mechanism also achieved good results in solving the problem of the optical concentrator.On the other hand,the robot also has a space for one person in outer space.For example,the Mars rover lunar rover and lunar landing has transportation difficulty bigger.In the space program,ultra-long distance transportation robot is in non-working state we hope it occupied the space as small as possible,the number of robot driving at the same time also reduced as far as possible.This project is inspired to design a deformation of the robot,the robot mechanism based on origami.The folding mechanism is applied in the robot design,fully expanded into a tablet and effectively reduce the space occupied by the robot resources can in the non-working state;at the same time,the folding mechanism has low degree of freedom also reduced the number of features needed to drive the robot.This paper focuses on the rigid mathematical modeling of folding system and its application in robot design as the main research content.Based on quadrilateral origami theory,the Miura-Ori model of the origami walking robot for improving the adaptability,the application of the theory to the practice of origami quadrilateral walking robot,and calculated the core geometry of the folding unit for folding type equation,walking robot space in a certain coordinate system.The coordinates of each point,designed and built the origami robot model of rigid folding,in MATLAB model.In the plate theory model to study the various existing,will be used in the design of plate model of origami robot,and then through the CAD on CNC machine tools of PVC hard plastic board is cut,and makes the prototype.The prototype powered input and output test,walking displacement test,is important.With a theoretical model and practicing data,two data were analyzed to verify the feasibility and reliability of the walking robot.The design of this type of origami walking robot considering the thickness of plate mechanism of origami creases in limbs mechanism design of the robot were constructed and the main mechanism.The robot is used by the institutions themselves are unfoldinglimbs walking patterns moving slowly.This kind of walking robot compared to the traditional advantage of fully expanded into a flat and space saving resources in non-working condition,at the same time with a single degree of freedom,has the advantages of simple drive.The main innovation of this dissertation are as follows: 1)the folding mechanism is applied in robot design,greatly reduces the occupation of non-working state space walking robot resources;2)a derivative mechanism of Miura-Ori is discussed and the adaptability analysis and optimization design of the robot,and gives the go for Origami Driving the moving strategy of moving robot;3)application of thickness on the folding folded plate theory robot design,the application of origami theory better in robot design.This paper mainly studies the walking mechanism of the robot,perception and decision not to consider.