Innovative Design And Experimentation Of A Continuum Origami Robot Based On Yoshimura’s Origami Model

Origami mechanisms have superior properties such as reconfigurability,extensibility,and negative Poisson’s ratio,and have been widely used in robotics research.Generally speaking,the research on soft and flexible origami robots has mostly used silicone injection materials and air drive methods,which increase the space occupation of the body and limit the environmental adaptability,thus limiting the functionality and application fields of origami robots.Therefore,the construction of a new configuration of paper folding mechanism and its implementation will provide new ideas for the development of paper folding robots.In this paper,a new theory of origami mechanism configuration and a new method of origami mechanism modification based on Yoshimura origami model will be constructed and applied to the innovative design of the continuum robot,with the main research contents as follows.Firstly,we analyzed the geometric parameters of Yoshimura origami model folds,summarized the basic elements of Yoshimura origami model,proposed a discrete splicing method for tubular origami mechanism based on the basic elements,created a comprehensive theory of convex polygonal tubular origami mechanism configuration based on Yoshimura origami model and a specific morphological solution theory for tubular origami mechanism,and performed solution examples and morphological discrimination.Secondly,a structurally symmetric polygonal tubular folding mechanism is constructed by the above-mentioned configuration synthesis and morphological solution theory,and the elongation and bending constraints of such tubular folding mechanism are analyzed.Then,based on the above-mentioned configuration theory and paper folding mechanism modification method,the symmetrical hexagonal and dodecagonal tubular paper folding mechanism was designed as the body section of the continuum paper folding robot;the homogeneous decomposition and heterogeneous segmented continuum configuration method and the Ni Ti memory alloy wire segmented zone delivery drive scheme based on geometric constraints and force constraints were proposed to create a three-dimensional model of the continuum robot;and the kinematic and motion state analysis was conducted based on the continuum robot modeling method.Finally,based on the above theoretical study and configuration modeling,a test prototype was developed,and experiments on elongation,bending angle,and load carrying capacity were conducted to obtain the overall performance parameters of the robot,and experimental studies on flexibility and application scenario building were carried out to make an exploratory pavement for the optimization and application of the robot.