仿生六足折纸机器人结构设计与运动分析  

Structure design and motion analysis of bionic hexapod origami robot

作　　者：曹东兴[1,2] 贾艳超 郭翔鹰[1,2] 毛佳佳 CAO Dongxing;JIA Yanchao;GUO Xiangying;MAO Jiajia(School of Mathematics Statistics and Mechanic,Beijing University of Technology,Beijing 100124,China;Beijing Key Laboratory of Nonlinear Vibrations and Strength of Mechanical Structures,Beijing University of Technology,Beijing 100124,China;School of Mechanical and Energy Engineering,Beijing University of Technology,Beijing 100124,China)

机构地区：[1]北京工业大学数学统计学与力学学院,北京100124 [2]北京工业大学机械结构非线性振动与强度北京市重点实验室,北京100124 [3]北京工业大学机械与能源工程学院,北京100124

出　　处：《浙江大学学报（工学版）》2024年第8期1543-1555,共13页Journal of Zhejiang University：Engineering Science

基　　金：国家自然科学基金资助项目(U2241264,11972051).

摘　　要：针对现有折纸机器人组成结构单一,运动不够灵活的问题,将折纸结构与多足机器人设计相结合,耦合三浦折纸和六折痕折纸,提出新型的仿螃蟹六足折纸机器人设计方案,扩展了折纸机器人的运动构型,提升了折纸机器人的运动灵活性.在面对称假设下,该机器人单足具有2个自由度,此时将机器人腿部顶点等效为关节,轴线折痕等效为连杆,建立机器人腿部的平面连杆等效模型,并以折面夹角为运动变量,通过仿真计算得出机器人足端的理论运动范围.利用楔形面板技术对折面增厚并避免相邻折面发生物理干涉,建模得到折纸仿螃蟹六足机器人的三维模型.基于平面连杆的等效模型,分析折面夹角与足端运动之间的联系,设计确定机器人的足端运动轨迹与运动步态.利用3D打印技术设计并制作折纸仿生六足机器人试验样机,基于STM32单片机控制实现了机器人三横向角步态运动.结果表明,该折纸仿生机器人可以实现平面构型到仿螃蟹构型的转换,在6条腿的协同运动下,机器人可以平稳地左右横向移动.A new design scheme of crab-like hexapod origami robot was proposed by combining the origami structure with the multi-legged robot design and coupling Miura origami and six-fold origami aiming at the problems that the existing origami robots have a single structure and insufficient flexibility in movement.The motion configuration of the origami robot was expanded,and the motion flexibility of the origami robot was improved.Each leg of the robot has two degrees of freedom under the symmetry hypothesis.The vertices of the robot legs were treated as joints,and the crease lines were regarded as links.A planar link equivalent model of the robot legs was established with the folding angle as the motion variable.The theoretical range of motion for the robot’s foot was determined through simulation calculations.Then tapered panel technique was utilized to thicken the folding surfaces and prevent physical interference between adjacent folding surfaces.A three-dimensional model of the origami crab-like hexapod robot was constructed.The relationship between the folding angle and foot motion was analyzed based on the equivalent model of planar links,and the foot motion trajectory and gait of the robot were designed.The experimental prototype of origami bionic hexapod robot was designed and manufactured by using 3D printing technology,and the lateral movement of the robot was realized based on STM32 microcontroller control.Results show that the origami bio-inspired robot can realize the conversion from plane configuration to a crab-like configuration.The robot can move smoothly left and right under the coordinated movement of six legs.

关 键 词：六足机器人 仿生 六折痕折纸 三浦折纸 运动分析 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]