基于吉村折纸结构的翻转机器人设计与运动分析  

Design and Motion Analysis of Flipping Robot Based on Yoshimura Origami Structure

作　　者：谭康宁 张琦炜[3,4] 何子瀚 梅栋 唐刚强 方虹斌 王延杰[1,2] TAN Kangning;ZHANG Qiwei;HE Zihan;MEI Dong;TANG Gangqiang;FANG Hongbin;WANG Yanjie(College of Mechanical and Electrical Engineering,Hohai University,Changzhou 213022;Jiangsu Key Laboratory of Special Robotics Technology,Hohai University,Changzhou 213022;Institute of AI and Robotics,Fudan University,Shanghai 200433;Yiwu Research Institute,Fudan University,Yiwu 322000)

机构地区：[1]河海大学机电工程学院,常州213022 [2]河海大学江苏省特种机器人技术重点实验室,常州213022 [3]复旦大学智能机器人研究院,上海200433 [4]复旦大学义乌研究院,义乌322000

出　　处：《机械工程学报》2025年第1期101-113,共13页Journal of Mechanical Engineering

基　　金：科技部“智能机器人”重点研发专项(2020YFB1312900);国家自然科学基金(51975184)资助项目

摘　　要：折纸结构具有变形能力强和组装简易等优点,在软体机器人设计中有着广泛的应用前景。基于吉村折纸结构出色的弯曲变形性能,提出了一种多自由度翻转软体机器人。首先,设计了由气动肌肉和吉村折纸结构组成的气动折纸驱动器,通过分析驱动器的弯曲性能优化了气动肌肉节数。然后,基于模块化和集成化的设计理念,搭建了由双气动折纸胞体组成的翻转机器人样机。建立了机器人的运动学模型,并提出了二维平面坐标系下的翻转机器人轨迹规划理论,分析了直行、侧行、弓字和口字四种周期性运动步态以及直线、圆弧对应的插补运动轨迹。最后,实验测试结果表明,机器人具有良好的运动性能,在水平面内成功验证了四种基本运动步态和轨迹插补运动,其最大直行运动速度可达77.19 mm/s,且能实现在30°斜坡面上的单向翻转爬坡,并具备非连续及过渡表面运动能力。With the advantages of excellent deformation ability and easy assembly,origami structure has a wide application prospect in soft robot design.Based on the excellent bending and deformability of Yoshimura origami structure,a multi-degree of freedom flipping soft robot is proposed.Firstly,a pneumatic origami actuator composed of the pneumatic muscle and the Yoshimura origami structure is designed,and the number of the pneumatic muscle segments is optimized by analyzing the bending performance of the actuator.Then,based on the design concept of modularization and integration,a prototype of the flipping robot composed of double pneumatic origami cells is built.The kinematic model of the robot is established,and the trajectory planning theory of the flipping robot in two-dimensional plane coordinate system is proposed.The four kinds of periodic gaits of straight,side,arch and mouth,and the interpolation trajectory of straight line and arc are analyzed.Finally,the experimental test results show that the robot has good motion performance,and successfully verified four basic motion gaits and trajectory interpolation motions in the horizontal plane.The maximum speed of the robot can reach 77.19 mm/s,and it can realize one-way flipping and climbing on the 30°slope surface,and has the ability of discontinuous and transitional surface motion.

关 键 词：折纸结构 气动肌肉 翻转机器人 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]