基于张拉整体结构的可移动折纸机器人结构设计  

The structure design of a movable origami robot based on the overall structure of tension

作　　者：孙建伟[1] 王贺 李晓东 SUN Jianwei;WANG He;LI Xiaodong(School of Mechatronic Engineering,Changchun University of Technology,Changchun 130012,China;Engineering Training Centre,Changchun University of Technology,Changchun 130012,China)

机构地区：[1]长春工业大学机电工程学院,吉林长春130012 [2]长春工业大学工程训练中心,吉林长春130012

出　　处：《长春工业大学学报》2021年第4期289-297,共9页Journal of Changchun University of Technology

基　　金：吉林省教育厅基金资助项目(JJKH20210721KJ)。

摘　　要：通过对一般单顶点五折痕折纸机构折叠过程的研究,建立了单顶点刚性折纸机构各折痕转角之间的关系方程,推导出未知折痕转角。基于单顶点五折痕的双稳态构型,提出一种张拉整体结构驱动的折纸机器人,可完成爬行与转向。利用Matlab得出折叠结构参数,用CATIA软件建立折纸机器人的结构模型。搭建物理样机,证明了该方法的有效性。Through the research on the folding process of the general single-vertex five-crease origami mechanism,the relationship equation between the crease corners of the single-vertex rigid origami mechanism is established,and the unknown crease corners are derived.Based on the bistable configuration of a single vertex and five creases,an origami robot driven by a tensioned integral structure is proposed,which can complete crawling and turning.Use Matlab to get the folding structure parameters.Use CATIA software to build the structure model of the origami robot.A physical prototype was built to prove the effectiveness of the method.

关 键 词：机械设计及理论 刚性折纸机构 张拉整体 运动分析 

分 类 号：TH122[机械工程—机械设计及理论]