Design Of Origami Robot Based On Two-bar Tensegrity Structure

Compared with the traditional mechanical structure,the tensegrity structures are not only simple in structure,the tensegrity structures are highly deformable,self-adaptive and can resist multi-directional impact.The structures are characterized by structural stability,robustness,impact resistance and compliance.Origami structures as a kind of folding and spreading mechanisms,the advantages in engineering are that they are small in size to accommodate storage and easy to achieve large folding ratio,can be recombined to reduce the complexity of production,and has a wide range of applications in aviation,medicine,military,etc.Traditional mobile robots are limited by their structures and footprints,which do not guarantee flexibility and efficiency of movement.This paper proposed a novel origami robot,which combines the advantages of both tensegrity structures and origami mechanisms into a high deformability,strong self-adaptability and flexible changes,and small space occupation unique robot.And the robot has both crawling and jumping movement modes.The robot exhibit the advantages and capabilities in solving the design problems of small ground robots,reducing the number of drives for the robot and reducing the space occupied by the robot.And it enables the robot to be mass-produced and has high task efficiency.There are three main reasons for the use of the tied the tensegrity structures as well as the origami mechanisms to mobile robots: first,the origami mechanisms are prone to folding interference during movement,causing mechanical damage;second,because of the low stability of the origami mechanisms,they cannot be self-stabilized by force in a certain configuration state,that make the force deformation of the origami mechanisms uncontrollable;the third is that it is difficult to combine the tensegrity structure and the origami mechanism in robot.This paper provides an in-depth discussion of the three issues mentioned above,as follows:(1)Form-finding analysis and theoretical study of the tensegrity structure.Adaptation of the two-bar and three-cable tensegrity structure so that tensegrity structure can be effectively combined with the origami mechanism.The stability,adaptiveness and flexibility of the tensegrity structure are used to make the origami robot move effectively.(2)Analysis of origami robot conformation.Based on the design requirements of the origami robot,we study and design the creases of the origami robot based on the two-bar tensegrity structure,express the information of each configuration of the structure,and analyze the constraints required for the effective folding of the robot.Through the comprehensive analysis of various thickening models,a method suitable for the thickening model of this paper is given.(3)Design and modeling analysis of the origami robot based on two-bar tensegrity structure.Construction of a structural assembly model of an origami robot based on a twobar tensegrity structure using Solidworks software,model the robot and perform kinematic modeling analysis.The performance of the robot is ensured and the correctness and validity of the proposed method are demonstrated.(4)The physical prototype is manufactured by 3D printing technology,and the assembly and debugging of the physical prototype of the robot are completed,and the corresponding experiments are conducted.Based on the two-bar tensegrity structure,an origami robot with crawling and jumping functions is proposed.