基于折纸原理的可变形轮腿机构设计分析

Design and Research of Deformable Wheel-Legged Mechanism Based on Origami Principle

本研究提出了一种新型的可变形轮腿机构,旨在解决传统轮式机器人环境适应性有限的问题。首先对折纸单元运动规律分析以确定折纸单元几何参数,在此基础上设计了轮腿机构,进而设计传动系统实现单一电机控制四个轮腿同时变形。通过仿真和样机实验评估了该机构的变形能力和越障性能。实验结果表明,所设计的轮腿机构能够有效地在轮式和腿式模式之间转换,且具备2.18倍于轮径的极限越障能力,显著提高了机器人在不同地形下的适应性。

This study presents a novel deformable wheel-legged mechanism to address the limited adaptability of traditional wheeled robots in different environments.The research begins by analyzing the motion of the origami unit and determining the geometric parameters required.Based on this analysis,a wheel-legged mechanism is designed,and a transmission system is developed to enable the simultaneous deformation of four wheel-legged units using a single motor.The mechanism’s deformation ability and barrier-crossing performance are evaluated through simulation and prototype experiments.The experimental results demonstrate that the designed wheel-legged mechanism effectively transforms between wheel and leg modes and exhibits an obstacle-crossing capability twicethe wheel diameter.This significant improvement in adaptability enhances the robot’s performance in various terrains.