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.
翻译:软体机器人能够通过形状变形实现各种功能,并受益于其符合要求的机体和可重新配置的结构。 在这里,我们建造和研究一种从已知的跨叶折纸弹簧中普及的折纸弹簧,作为在灵活机器人中进行形状变形的有希望的候选人。这些弹簧被发现在压缩/悬浮区域展示出非线状伸缩式联动和线性/非线性机械反应,通过演示的连续力力力学模型、实验和有限元素模拟加以分析。为了改进机械性能,例如抗损害性能,我们通过在弹簧系统中添加额外的折痕来建立折纸硬化法。在理论框架的指导下,我们实验地实现了三种灵活的机器人类型 -- -- 折纸弹喷射器、爬行器和变压器。这些机器人展示了理想的功能和杰出的机械性能。拟议中的折纸型设计概念预计将为便利灵活机器人的形变形铺平铺平道路。