Novel multi-degree-of-freedom rigid thick plate paper cutting crawling robot

Abstract

The invention discloses a novel multi-degree-of-freedom rigid thick plate paper cutting crawling robot, consisting of left and right symmetric parts. The left and right parts are hinged at the foldingplace to implement unfolding and folding of the robot; the robot has four degrees of freedom, and is driven by four steering engines; two of the steering engines implement the unfolding motion of theleft and right symmetric parts, and the rest two steering engines are mounted at the head to implement the front-back folding motion of the robot; and four wheels are driven by a motor to respectively rotate around the axis of the motor for adjusting the pose so as to adapt to the unfolding angle. A one-way bearing is mounted on the terminal wheel of the robot, so that the crawling robot can implement the one-way crawling motion. The novel multi-degree-of-freedom rigid thick plate paper cutting crawling robot has the advantages such as portable and compact structure, stable folding and unfolding process and easy control.

Description

technical field [0001] The invention belongs to the technical field of folding robots, and in particular refers to a novel multi-degree-of-freedom rigid thick plate paper-cut crawling robot that uses folding properties to move. Background technique [0002] Origami is an ancient folk art, which can fold two-dimensional plane objects into three-dimensional models, which has great application prospects in aerospace, medical, robotics and other fields. And in recent years, with the development of origami mathematics, origami art has been combined with modern science to derive origami engineering. In engineering applications, the traditional thin paper structure cannot meet the rigidity requirements of commonly used materials, so rigid origami has been produced. Rigid origami structures are used in the design of various expandable structures due to their good folding characteristics. In recent years, in order to enable robots to adapt to changes in the working environment, scie...

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to aim at the technical defects existing in the prior art, and propose a novel multi-degree-of-freedom rigid kirigami crawling robot that uses changes in shape during folding and unfolding. Board origami, by removing part of the origami creases, constitutes a new kirigami folding form to solve the problems of the existing origami crawling robot with small folding ratio, complex structure and complex motion form

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