Form-variable wheel type mechanism based on 4D printing technology

Abstract

The invention discloses a form-variable wheel type mechanism based on a 4D printing technology. The structure has a thermal stimulation deformation response property. According to the specific technical scheme, the form-variable wheel type mechanism based on the 4D printing technology comprises non-deformation wheel units and deformation 4D printing connecting pieces, the non-deformation wheel units comprise fin-shaped arc sheets and trapezoid-like arc sheets, the fin-shaped arc sheets and the trapezoid-like arc sheets are perpendicularly connected through hinges, connecting rods are arranged at the other end corners of the trapezoid-like arc sheets, every two non-deformation wheel units are fixedly connected through the bottom ends of the corresponding connecting rods to form a form-controllable angulation rod component, and every two form-controllable angulation rod components are connected with each other through the corresponding deformation 4D printing connecting pieces connected with the corresponding connecting rods. A complex wheel diameter change control system is integrated in the structure, a complex mechanical structure is simplified, and motion control is achieved by regulating and controlling the unfolding angles of the structure units.

Description

technical field [0001] The invention belongs to the technical field of 4D printing, and in particular relates to a shape-variable wheel mechanism based on 4D printing technology. Background technique [0002] With the rapid development of disciplines such as mechanical engineering and information technology, robots have been increasingly widely used in aerospace, industrial production, geological exploration and other fields. In terms of robot design (except for fixed-position robots), the mobile mechanism is the key system for undertaking tasks, and the wheeled mechanism is widely used because of its strong adaptability, reliable operation and convenient control. However, as the scope of human scientific research, engineering, and habitat continues to expand, complex and changeable application scenarios require robots to have the mobility to cope with various environments. Therefore, researchers have made different designs for robot mobile wheel mechanisms working in vario...

AI Technical Summary

Problems solved by technology

[0003] Traditional variable wheel diameter mechanisms usually integrate two sets of motion control systems for wheel diameter change and wheel movement at the same time, switching in different environments to obtain enhanced passing capacity, which leads to such mechanisms with complex mechanical structures and control systems. Reduced reliability and increased control difficulty, thereby limiting the development of this type of mechanism

In addition, the current research on some variable wheel diameter mechanisms can only preserve the unique integrity of the wheel during the enlargement or reduction process, and cannot preserve the integrity of the entire variable process.

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