一种折纸型柔性驱动器的设计与应用  

Design and application of pneumatic flexible actuator based on origami structure

作　　者：刘中明 孙中圣[1] Liu Zhongming;Sun Zhongsheng(School of Mechanical Engineering,Nanjing University of Science and Technology,Jiangsu Nanjing,210094,China)

机构地区：[1]南京理工大学机械工程学院,江苏南京210094

出　　处：《机械设计与制造工程》2024年第12期47-52,共6页Machine Design and Manufacturing Engineering

基　　金：国家自然科学基金(51305202)。

摘　　要：设计了一种新型的折纸型柔性驱动器,通过对三浦折纸单元的折叠过程进行研究,建立了折纸驱动器各折痕转角之间的关系方程,分析了该折纸结构展开过程中的展开角度,最终确定了折纸结构的详细几何参数。对驱动器的基本性能进行了测试,并在此基础上提出了一种可直线移动的爬行机器人,试验证明该机器人可以在±3 kPa的气压下完成2.04 cm/s的直线前进动作,为折纸驱动器的应用提供了可行方案。A new type of origami flexible actuator is designed.By studying the folding process of Miura origami unit,the relationship equation between each crease angle of origami actuator is established,and the developing angle of the origami structure is analyzed.Finally,the detailed geometric parameters of the origami structure are determined.The basic performance of the actuator is tested based on the actuator,a crawling robot that can move in a straight line is proposed.Experiments show that the robot can move in a straight line at 2.04 cm/s under plus or minus 3 kPa air pressure,which provides a feasible scheme for the application of origami actuators.

关 键 词：折纸结构 爬行机器人 气动 

分 类 号：TH138[机械工程—机械制造及自动化]