折纸机器人

Origami robots

21世纪以来,随着折纸结构在工程领域日益广泛的应用,折纸工程学这一新兴的交叉学科越来越受到人们的重视.刚性折纸作为折纸的一个重要分支,以其折展过程中面内无应变的特点而被应用于工程结构的设计中.此外,刚性折纸结构凭借良好的折叠特性也被大量用于机器人的设计中,由此产生了折纸机器人.它兼具折纸结构和机器人各自的优点,成为折纸工程学发展的新方向.根据折纸机器人中折纸结构所起的不同作用,可将其分为三类:骨架型折纸机器人、驱动型折纸机器人和外壳型折纸机器人.本文在总结国内外学者在此三大方向研究成果的基础上,概述了其中的科学问题和技术方法,最后得出未来折纸机器人骨架驱动一体化的发展是必然趋势的结论.

Origami engineering has drawn increasing interest as a novel interdisciplinary subject since the beginning of this century with the wide application of origami structures in engineering fields. Rigid origami, an important branch of origami, has been used to design engineering structures since it has no strain in the facets during the deployment. Due to its excellent folding properties, rigid origami structures are also adopted in the design of robots, contributing to the generation of origami robots. Origami robots that combine advantages of both origami structures and robots have become a new trend for the development of origami engineering. According to different functions of origami structures in origami robots, there are three distinct types including origami skeleton robots, origami actuators and origami shell robots. This paper summarizes the research achievements together with scientific problems and technical methods in these three directions. Finally, the conclusion is drawn that the development trend of origami robots is the integration of origami skeleton robots and origami actuators.