用于柔性机器人的受折纸弹簧启发的形状变形
Origami spring-inspired shape morphing for flexible robotics
摘要：
柔性机器人能够通过形状变形来实现各种功能，这得益于它们的柔性体和可重构结构。在这里，我们构建和研究一类折纸弹簧广义从已知的交错折纸弹簧，作为有前途的候选人在柔性机器人的形状变形。这些弹簧被发现表现出非线性拉伸-扭转耦合和线性/非线性的压缩/拉伸区域的机械响应，所展示的连续介质力学模型，实验和有限元模拟分析。为了提高机械性能，如抗损伤能力，我们建立了一个折纸刚性化的方法，通过增加额外的折痕的弹簧系统。在理论框架的指导下，我们实验实现了三种类型的柔性机器人-折纸弹簧弹射器，爬行器和Transformers。这些机器人显示出所需的功能和出色的机械性能。所提出的折纸辅助设计的概念，预计铺平了道路，以促进灵活的机器人的各种形状变形。
英文摘要：
Flexible robotics are capable of achieving various functionalities by shape morphing, benefiting from their compliant bodies and reconfigurable structures. Here we construct and study a class of origami springs generalized from the known interleaved origami spring, as promising candidates for shape morphing in flexible robotics. These springs are found to exhibit nonlinear stretch-twist coupling and linear/nonlinear mechanical response in the compression/tension region, analyzed by the demonstrated continuum mechanics models, experiments, and finite element simulations. To improve the mechanical performance such as the damage resistance, we establish an origami rigidization method by adding additional creases to the spring system. Guided by the theoretical framework, we experimentally realize three types of flexible robotics -- origami spring ejectors, crawlers, and transformers. These robots show the desired functionality and outstanding mechanical performance. The proposed concept of origami-aided design is expected to pave the way to facilitate the diverse shape morphing of flexible robotics.
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