Origami-Enhanced Mechanical Properties for Worm-Like Robot

Liu, Zuolin1; He, Zihan1; Hu, Xiao1; Sun, Zitao1; Ge, Qi2; Xu, Jian1; Fang, Hongbin1

2024-07-01

10.1089/soro.2023.0246

SOFT ROBOTICS   影响因子和分区

2169-5172

2169-5180

In recent years, the exploration of worm-like robots has garnered much attention for their adaptability in confined environments. However, current designs face challenges in fully utilizing the mechanical properties of structures/materials to replicate the superior performance of real worms. In this article, we propose an approach to address this limitation based on the stacked Miura origami structure, achieving the seamless integration of structural design, mechanical properties, and robotic functionalities, that is, the mechanical properties originate from the geometric design of the origami structure and at the same time serve the locomotion capability of the robot. Three major advantages of our design are: the implementation of origami technology facilitates a more accessible and convenient fabrication process for segmented robotic skin with periodicity and flexibility, as well as robotic bristles with anchoring effect; the utilization of the Poisson's ratio effect for deformation amplification; and the incorporation of localized folding motion for continuous peristaltic locomotion. Utilizing the high geometric designability inherent in origami, our robot demonstrates customizable morphing and quantifiable mechanical properties. Based on the origami worm-like robot prototype, we experimentally verified the effectiveness of the proposed design in realizing the deformation amplification effect and localized folding motion. By comparing this to a conventional worm-like robot with discontinuous deformation, we highlight the merits of these mechanical properties in enhancing the robot's mobility. To sum up, this article showcases a bottom-up approach to robot development, including geometric design, mechanical characterization, and functionality realization, presenting a unique perspective for advancing the development of bioinspired soft robots.

Poisson's ratio localized folding motion elastic decay origami skin

SCI ; EI

英语

其他

National Natural Science Foundation of China["12272096","12202104","11932015"] ; Shanghai Pilot Program for Basic Research-Fudan University[21TQ1400100-22TQ009] ; China Postdoctoral Science Foundation["2021TQ0071","2021M700819"]

Robotics

Robotics

WOS:001261847500001

MARY ANN LIEBERT, INC

Web of Science

1.Fudan Univ, Inst AI & Robot, State Key Lab Med Neurobiol, MOE Engn Res Ctr AI & Robot, 220 Handan Rd, Shanghai 200433, Peoples R China
2.Southern Univ Sci & Technol, Dept Mech & Energy Engn, Shenzhen, Peoples R China

Liu, Zuolin,He, Zihan,Hu, Xiao,et al. Origami-Enhanced Mechanical Properties for Worm-Like Robot[J]. SOFT ROBOTICS,2024.

Liu, Zuolin.,He, Zihan.,Hu, Xiao.,Sun, Zitao.,Ge, Qi.,...&Fang, Hongbin.(2024).Origami-Enhanced Mechanical Properties for Worm-Like Robot.SOFT ROBOTICS.

Liu, Zuolin,et al."Origami-Enhanced Mechanical Properties for Worm-Like Robot".SOFT ROBOTICS (2024).