Design And Research Of Movable Origami Robot Based On Two-bar Tension Drive

Origami mechanism as a kind of folding mechanism,has engineering advantages including compact storage capacity and unfolding capacity,easy to achieve large fold-out ratio,and has the potential for reconfigurability,as well as reduce manufacturing complexity,it has broad application prospects in military,medical and aviation fields.However,the current application of origami mechanism is limited by the limited configuration,and other configurations are still in the theoretical stage.There are two main reasons that restrict the origami mechanism from being used in the design of mobile robots,first,when the origami mechanism has a complex configuration,the crease corners need to be restricted during the folding process,otherwise the paper is prone to folding interference and damage to the mechanism.Moreover,the stability of the origami mechanism is poor,and it cannot be selfstabilized in a certain configuration under force,as a result,the force and deformation of the origami mechanism are uncontrollable.This article focuses on the above two issues,and the specific contents are as follows:(1)Analyze and design the configuration of the origami mechanism,and research the description method of the origami mechanism.Use symbol marks to express each configuration information of the origami mechanism,define the way of distinguishing the mountain creases and valley creases,and the calculation method of the angles of the creases.Analyze the constraint conditions required for the effective folding of the origami mechanism and derive the geometric relationship equation between the angles of the creases and the corners of the creases according to the rotation coordinate transformation,and derive the effective folding condition equations of the origami mechanism through the transformation of coordinate.Research on the single vertex five crease origami mechanism,research the origami mechanism under effective folding conditions,analyze and describe the origami mechanism variables of any instantaneous configurations of the mechanism,including the relationship between the crease corner and the crease corner,the instantaneous position coordinates of any point on the paper during folding and the instantaneous position coordinates of each point after the origami mechanism is folded on the plane.(2)Based on the research of origami mechanism and the design requirements of origami robot,a bistable folding unit was designed.The folding unit is properly mirrored and spliced to form a theoretical model of a zero-thickness origami robot.After synthesizing various methods of thick plate origami mechanism,a method of thick plate origami mechanism suitable for this paper is proposed,in this way,the transition from zero thickness origami robot model to non-zero thickness origami robot model is achieved.(3)Theoretical research on tension mechanism.Improve the two bars and three cables tensioning mechanism with stability,self-adaptation and flexibility,so that it can be effectively combined with the designed origami robot.The stability of the tensioning mechanism is used to make the origami mechanism have a reliable folding movement.(4)The configuration design and motion simulation analysis of the origami robot based on the tension mechanism.Use Catia software to build an assembly model of the origami robot based on the tension mechanism,and then import it into Adams software to complete the prototype simulation model and perform corresponding simulation analysis and experiments,ensure that the performance requirements of the origami robot driven by the tension mechanism are fulfilled,and the validity of the proposed method and the correctness of the theoretical calculation results are proved.(5)Use 3D printing technology to complete the processing and manufacturing of various parts of the prototype,and complete assembling,debugging and related experiments of the physical prototype through the selection of standard parts and motor power supply.The designed origami robot based on the tension mechanism can be folded on the ground and can perform crawling and turning motions in the specified direction.