刚柔耦合厚板折纸机器人的结构设计与运动控制研究

Origami 是一种将二维平面折叠成三维物体的折纸艺术。基于 Origami 折纸图案的机器人被称为折纸机器人，具有易于变形、节省空间、良好的人机交互等优点。然而，目前大多数基于传统制造方法的薄板折纸机器人存在制造过程繁琐和力学性能较弱的不足，从而限制了它们在工程应用中的潜力。此外，折纸机器人驱动系统较为复杂，运动控制研究缺乏定量分析与运动建模。本研究结合熔融沉积成型的多材料3D打印技术制造刚柔耦合厚板折纸机器人。该机器人兼具良好的力学性能和折叠能力，并能够通过正交控制实现任意方向弯曲。 刚柔耦合厚板折纸机器人的柔性铰链由软材料构成，面板采用软材料包裹刚性材料的结构。在这种设计下，折纸机器人的应变主要集中在柔性铰链处，同时保证了面板与铰链之间牢固的界面。利用 D-H Convention 方法，证明了刚柔耦合厚板折纸保持和零厚度折纸结构一致的折叠运动特征和功能。相比于传统厚板折纸结构，刚柔耦合厚板折纸结构可以直接使用零厚度折纸结构图案，无需重新设计图案和铰链，大大简化了设计与制造流程。通过调节柔性铰链的位置，可以系统调整刚柔耦合折纸结构的刚度进而获得了能够承受超过 100 次循环加载且具有优越的冲击吸能效果的折纸结构。 在调节柔性铰链的基础上，对 Yoshimura 图案进行了修改，成功设计出了一种刚柔耦合折纸机器人。该机器人不仅具备了良好的变形能力和一定的刚度，还能够通过正交控制实现任意方向弯曲。建立驱动控制及测量系统，可以通过线缆驱动控制折纸机器人弯曲变形并实时监测线缆的力和机器人的弯曲程度。通过利用折纸机器人弯曲角度与线缆拉伸位移之间的线性关系，实现了对折纸机器人的快速精准控制。通过协同驱动多根线缆， 实现了折纸机器人的多向协同弯曲控制，进而使折纸机器人能够实现复杂的多向运动。对刚柔耦合厚板折纸机器人进行建模分析，深入探究不同设计参数下的可达空间，为未来工程应用提供了理论支持。

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