Paper folding structure capable of conducting self-folding based on electric drive

Abstract

The invention discloses a paper folding structure capable of conducting self-folding based on electric drive. The paper folding structure is formed by arranging and combining a plurality of rectangular units. Each rectangular unit is provided with the front face and the back face, and each rectangular unit is in left-right symmetry with the center line as the boundary. The front face and the backface of each rectangular unit are provided with memory alloy pasters, the front first memory alloy pasters are located on the left diagonal line and the right diagonal line, and the back second memoryalloy pasters are located on the center line and a boundary of every two adjacent rectangular units. The memory alloy pasters on the front faces and the back faces of all the rectangular units are connected to a power source in parallel through a copper wire. During electrification, the memory alloy pasters are in an unfolding state, and after outage, the memory alloy pasters are in a folding state. According to the paper folding structure, a triangular plane unit not deforming and the connecting line of two adjacent plane units serve as a rotation pair, the folding and unfolding process of the structure is accurately controlled, connecting circuits between the rectangular pasters are connected in parallel, and the actions of the rectangular pasters can be controlled at the same time.

Description

technical field [0001] The invention belongs to the technical field of flexible robots, in particular to an electric-driven self-folding origami structure. Background technique [0002] Soft robotics has progressed by leaps and bounds in the past decade. Researchers around the world are experimenting with different materials and designs to allow rigid robots to bend and interact with humans in more natural ways. However, enhancing the flexibility of robots often means a compromise in strength, because softer materials are generally not as strong as rigid materials, which also limits the use of soft robots. [0003] Inspired by high-strength origami structures, various self-folding structures and devices have been designed in combination with modern applications, including remote-controlled robots, microfluidic chemical analysis, tissue engineering, artificial muscles, etc. It also has a variety of possible applications in real life and scientific research, such as the fold...

AI Technical Summary

Problems solved by technology

Artificial muscles with origami structures can be customized into any shape and lift objects that exceed their own weight countless times, and are expected to provide safe and powerful power for countless machines and robots. However, the design, manufacture, and execution of artificial muscles are often limited by the cost of materials. , working principle, scalability, and the limitations of single-degree-of-freedom contraction motion and other factors

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