基于折纸机构设计的新型行走机器人

Novel Walking Robot based on the Design of Origami Mechanism

针对行走机器人存在的驱动复杂、无法适应不同行走环境等局限,基于折纸机构设计出一种新型的具有单自由度的行走机器人的两种腿部折纸构型;通过将三浦折纸(Miura-Ori)折痕转角理论与腿部等效运动学模型相结合,简化运动学的求解并设计出一种新型的驱动方式。将单顶点折纸理论拓展到多顶点的折纸构型之中,得到了不同单元的折痕转角之间的确定关系。提出一种配合折纸折叠状态的步态规划。结果表明,机器人腿部折纸构型能够实现大跨度、大步长的行走步态;由于足部末端的大跨度动作,不与地面发生相对滑动,能够在不同复杂程度的路面实现平稳行走。

In view of the limitations of walking robots such as complex driving and inability to adapt to different walking environments,a new type of single-degree-of-freedom walking robot with two leg origami configurations based on the origami mechanism is designed,by folding Miura origami crease angle theory is combined with leg equivalent kinematics model,the kinematics solution is simplified and a new driving mode is designed.The theory of single-vertex origami is extended to the multi-vertex origami configuration,and the definite relationship between the crease corners of different units is obtained.A gait plan that matches the folding state of origami is proposed.The simulation results show that the origami configuration of the robot legs can achieve a longspan and long-span walking gait.Due to the large-span motion at the end of the foot,it does not slide relative to the ground,can achieve smooth walking on roads of different complexity.