Five-degree-of-freedom robot based on paper folding

Abstract

The five-degree-of-freedom robot comprises a robot body, the robot body comprises an upper-layer three-degree-of-freedom parallel module, a base and a slender tool, the middle of the top end of the base is fixedly connected with the bottom end of the slender tool, and a lower-layer two-degree-of-freedom parallel module penetrating through the slender tool is fixedly installed at the top end of the base; the top end of the lower two-degree-of-freedom parallel module is connected with the bottom end of the upper three-degree-of-freedom parallel module; the upper-layer three-degree-of-freedom parallel module comprises a first supporting base, an X-axis translation module, a Y-axis translation module, a Z-axis translation module and a self-holding ball pair. The upper-layer three-degree-of-freedom parallel module controls the self-holding ball pair to conduct three-degree-of-freedom translation. The lower-layer two-degree-of-freedom parallel module controls the guide ball pair to perform two-degree-of-freedom translation on the plane; the slender tool penetrates through the guide holes in the self-holding ball pair and the guide ball pair; the positions of the ball pairs are adjusted through cooperative movement of the upper-layer and lower-layer parallel mechanisms, and the posture of the slender tool is adjusted.

Description

Technical Field

[0001] This invention relates to the field of robotics, specifically to a five-degree-of-freedom robot based on origami. Background Technology

[0002] In the field of precision robotic manipulation, high-precision positioning and axial insertion of slender tools are widely used in scenarios such as dispensing / coating, material sampling, micro-assembly, and wiring and positioning in confined spaces. These tasks typically require simultaneous adjustment of the tool's end-effector position and incident angle, achieving stable and controllable axial feed within a compact volume. Traditional manual or external feed mechanisms struggle to balance system miniaturization, sufficient degrees of freedom, rigidity, and automated feed capabilities, necessitating a compact and easily integrated robotic mechanism.

[0003] In existing positioning and insertion devices for slender tools, some solutions employ origami structures or parallel mechanisms to achieve lightweighting and miniaturization (such as "An MRI-compatible origami robot for puncture surgery" publication number CN114886566A, and "A magnetically controlled intragastric biopsy puncture robot based on Kresling origami and its working method" publication number CN117958873A). However, these systems generally suffer from insufficient degrees of freedom, limited reachable posture range, external feed modules leading to increased size, or a lack of integrated automatic axial feed capability. Furthermore, the insufficient torsional and bending stiffness of origami flexible hinges in specific directions weakens the system's positioning accuracy and load-bearing capacity. Summary of the Invention

[0004] The purpose of this invention is to provide a five-degree-of-freedom robot based on origami, to solve the problems of insufficient degrees of freedom, weak automated axial feed capability, and large structural volume in existing related devices. To achieve the above objective, this invention provides the following technical solution: a five-degree-of-freedom robot based on origami, comprising a robot, the robot including an upper three-degree-of-freedom parallel module, a base, and a slender tool, the middle of the top of the base being fixedly connected to the bottom of the slender tool, and a lower two-degree-of-freedom parallel module penetrating the slender tool being fixedly installed on the top of the base, the top of the lower two-degree-of-freedom parallel module being connected to the bottom of the upper three-degree-of-freedom parallel module;

[0005] The upper-level three-degree-of-freedom parallel module includes a first support base, an X-axis translation module, a Y-axis translation module, a Z-axis translation module, and a self-gripping ball joint. One side of the top of the first support base is fixedly connected to the bottom end of the X-axis translation module, one end of the top of the first support base is fixedly connected to the bottom end of the Y-axis translation module, and the top of the first support base is fixedly connected to the bottom end of the Z-axis translation module. One side of the Z-axis translation module, one side of the X-axis translation module, and one side of the Y-axis translation module are all movably connected to the side of the self-gripping ball joint directly opposite to it.

[0006] The lower-level two-degree-of-freedom parallel module includes two lower-level motors and two lower-level rotating shafts. The output ends of the two lower-level motors are each fixedly equipped with a first driving gear. The outer sides of the two first driving gears are each meshed with a first driven gear. The middle parts of the two first driven gears are respectively fixedly connected to one end of the two lower-level rotating shafts. A lower-level branch clamp is fixedly installed on one side of each of the two lower-level rotating shafts. One end of one lower-level branch clamp is fixedly equipped with a lower-level first origami branch, and one end of the other lower-level branch clamp is fixedly equipped with a lower-level second origami branch. A guide ball joint is movably connected between one end of the lower-level first origami branch and one end of the lower-level second origami branch.

[0007] In use, the lower motor drives the first driving gear to rotate, the first driving gear contacts the first driven gear, the first driven gear drives the lower rotating shaft to rotate, and the lower rotating shaft moves the first origami branch and the second origami branch synchronously through the lower branch clamp.

[0008] As a preferred embodiment of the present invention, both the X-axis translation module and the Y-axis translation module include an upper motor and an upper rotating shaft. A second driving gear is fixedly installed at the output end of the upper motor. A second driven gear is meshed with the outer side of the second driving gear. The middle part of the second driven gear is fixedly connected to one end of the upper rotating shaft. An upper branch clamp is fixedly installed at the middle part of the upper rotating shaft. A polyimide film is hinged to the top of one side of the upper branch clamp. A rotating shaft seat is rotatably connected to the bottom end of the upper rotating shaft. A linear slide rail is fixedly installed on one side of the rotating shaft seat. A linear slide table is slidably connected to the middle of the linear slide rail. One side of the top of the linear slide table is rotatably connected to the bottom end of the polyimide film. An upper origami branch is fixedly installed on the other side of the top of the linear slide table. One end of the upper origami branch is movably connected to a self-gripping ball joint. The bottom end of the upper motor is fixedly connected to a first support base.

[0009] In use, the upper motor drives the second drive gear to rotate, and the second drive gear contacts the second driven gear. The second driven gear rotates due to friction, and the second driven gear drives the upper rotating shaft to rotate. The upper rotating shaft drives the polyimide film to open and close through the upper branch clamp, so that the linear slide table slides along the linear slide rail, adjusting the position of the upper origami branch, and the upper origami branch adjusts the position of the self-gripping ball pair.

[0010] As a preferred embodiment of the present invention, the bottom ends of both lower motors are fixedly connected to the base.

[0011] In use, the lower-level two-degree-of-freedom parallel module is mounted on the base via the lower-level motor.

[0012] As a preferred embodiment of the present invention, the self-gripping ball joint includes a ball socket, two ball joints and two gripping claws. The two sides of the inner wall of the ball socket are rotatably connected to one end of the two ball joints, and the two ends of the inner wall of the ball socket are rotatably connected to one side of the two gripping claws. The outer side of the ball socket is movably connected to the X-axis translation module, the Y-axis translation module and the Z-axis translation module. The opposite sides of the two ball joints are in contact with the slender tool.

[0013] In use, the ball joint has a guide hole in the axial direction for the slender tool IV to pass through; the clamping jaws are symmetrically arranged on both sides of the ball joint guide hole via a revolute joint; the ball joint is set in the ball socket; the curvature of the clamping jaws on the contact side with the slender tool IV gradually increases; when the slender tool IV moves upward in the guide hole, the clamping jaws rotate under the action of friction, and because the curvature of the clamping jaws gradually increases in this rotational direction, the slender tool IV is locked; when the slender tool IV moves downward in the guide hole, the clamping jaws rotate in the opposite direction, and because the curvature of the clamping jaws gradually decreases in this rotational direction, the slender tool IV is released.

[0014] As a preferred embodiment of the present invention, the interior of the guide ball assembly is in contact with the elongated tool.

[0015] In use, the lower two-degree-of-freedom parallel module is installed on both sides of the slender tool via guide ball joints.

[0016] As a preferred embodiment of the present invention, carbon fiber plates are fixedly installed at both ends of the polyimide film.

[0017] As a preferred embodiment of the present invention, the lower first origami branch is composed of a first carbon fiber connecting rod, a second carbon fiber connecting rod and a third carbon fiber connecting rod hinged together. One end of the first carbon fiber connecting rod is connected to the lower rotating shaft through the lower branch clamp, and one end of the third carbon fiber connecting rod is connected to the guide ball joint.

[0018] In use, the first carbon fiber connecting rod to the third carbon fiber connecting rod are connected end to end through a polyimide film to form a three-bar linkage.

[0019] As a preferred embodiment of the present invention, the lower second origami branch is composed of a fourth carbon fiber connecting rod and a fifth carbon fiber connecting rod hinged together, wherein one end of the fourth carbon fiber connecting rod is connected to the lower rotating shaft through the lower branch clamp, and one end of the fifth carbon fiber connecting rod is connected to the guide ball joint.

[0020] In use, the fourth to fifth carbon fiber connecting rods are connected end to end through a polyimide film to form a two-bar mechanism; the third carbon fiber connecting rod of the lower first origami branch and the fifth carbon fiber connecting rod of the lower second origami branch are both fixed on the guide ball joint, together forming the lower four-bar two-degree-of-freedom parallel mechanism.

[0021] Compared with the prior art, the beneficial effects of the present invention are:

[0022] 1. To achieve the pose adjustment of a slender tool, the upper three-degree-of-freedom parallel module controls the self-gripping ball joint to perform three-degree-of-freedom translation; the lower two-degree-of-freedom parallel module controls the guide ball joint to perform two-degree-of-freedom translation on the plane; the slender tool passes through the guide holes on the self-gripping ball joint and the guide ball joint; the position of the ball joint is adjusted by the coordinated motion of the upper and lower parallel mechanisms, thereby achieving the pose adjustment of the slender tool.

[0023] 2. To achieve feeding of slender tools, during feeding, the lower ball joint remains stationary while the upper self-gripping ball joint reciprocates along the axis of the slender tool. Due to the one-way locking characteristic of the self-gripping ball joint, it releases the slender tool when moving upward and locks it when moving downward, thus driving the slender tool to move downward together and completing the feeding.

[0024] 3. The structure is small and compact. By using the origami mechanism, the structural size of the robot is effectively reduced. At the same time, the mechanical performance of the origami mechanism is significantly improved by the nested reinforcement structure, especially the torsional stiffness and the bending stiffness in the direction of the vertical flexible hinge axis. Attached Figure Description

[0025] Figure 1 This is a perspective view of the present invention;

[0026] Figure 2 This is a schematic diagram of the frame structure of the upper three-degree-of-freedom parallel module of the present invention;

[0027] Figure 3 This is a schematic diagram of the X-axis translation module of the present invention;

[0028] Figure 4 This is a schematic diagram of the architecture of the lower-level two-degree-of-freedom parallel module of the present invention;

[0029] Figure 5 This is a schematic diagram of the self-gripping ball joint structure of the present invention;

[0030] Figure 6 This is a schematic diagram of the origami nesting reinforcement structure of the present invention;

[0031] Figure 7 This is one of the schematic diagrams showing the pose of the slender tool of the present invention;

[0032] Figure 8 This is a second schematic diagram of the pose of the slender tool of the present invention;

[0033] Figure 9 This is a third schematic diagram of the pose of the slender tool of the present invention;

[0034] Figure 10This is the fourth schematic diagram of a pose of the slender tool of the present invention.

[0035] Figure 11 This is one of the schematic diagrams illustrating the feeding method of the slender tool of the present invention;

[0036] Figure 12 This is a second schematic diagram of the feeding method for the slender tool of the present invention.

[0037] In the diagram: I. Upper three-degree-of-freedom parallel module; II. Lower two-degree-of-freedom parallel module; III. Base; IV. Slender tool; 1. First support base; 2. X-axis translation module; 3. Y-axis translation module; 4. Z-axis translation module; 5. Self-gripping ball joint; 6. Upper motor; 7. Upper shaft; 8. Linear slide; 9. Upper origami branch; 10. Upper branch clamp; 11. Polyimide film; 12. Lower first origami branch; 13. Lower second origami branch; 14. Lower motor; 15. Lower shaft; 16. Lower branch clamp; 17. Guide ball joint; 18. Clamping claw; 19. Ball joint; 20. Ball socket; 21. Carbon fiber plate. Detailed Implementation

[0038] The technical solutions of the present invention will be clearly and completely described below with reference to the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0039] Please see Figure 1-12 This invention provides a five-degree-of-freedom robot based on origami, comprising a robot, an upper three-degree-of-freedom parallel module I, a base III, and a slender tool IV. The middle part of the top of the base III is fixedly connected to the bottom of the slender tool IV. A lower two-degree-of-freedom parallel module II is fixedly installed on the top of the base III, penetrating the slender tool IV. The top of the lower two-degree-of-freedom parallel module II is connected to the bottom of the upper three-degree-of-freedom parallel module I.

[0040] The upper three-degree-of-freedom parallel module I includes a first support base 1, an X-axis translation module 2, a Y-axis translation module 3, a Z-axis translation module 4, and a self-gripping ball joint 5. One side of the top of the first support base 1 is fixedly connected to the bottom end of the X-axis translation module 2, one end of the top of the first support base 1 is fixedly connected to the bottom end of the Y-axis translation module 3, and the top of the first support base 1 is fixedly connected to the bottom end of the Z-axis translation module 4. One side of the Z-axis translation module 4, one side of the X-axis translation module 2, and one side of the Y-axis translation module 3 are all movably connected to the side of the self-gripping ball joint 5 directly opposite to it.

[0041] The lower-level two-degree-of-freedom parallel module II includes two lower-level motors 14 and two lower-level rotating shafts 15. The output ends of the two lower-level motors 14 are each fixedly equipped with a first driving gear. The outer sides of the two first driving gears are each meshed with a first driven gear. The middle parts of the two first driven gears are respectively fixedly connected to one end of the two lower-level rotating shafts 15. A lower-level branch clamp 16 is fixedly installed on one side of each of the two lower-level rotating shafts 15. One end of one lower-level branch clamp 16 is fixedly equipped with a lower-level first origami branch 12, and one end of the other lower-level branch clamp 16 is fixedly equipped with a lower-level second origami branch 13. A guide ball joint 17 is movably connected between one end of the lower-level first origami branch 12 and one end of the lower-level second origami branch 13.

[0042] In use, the lower motor 14 drives the first driving gear to rotate, the first driving gear contacts the first driven gear, the first driven gear drives the lower rotating shaft 15 to rotate, and the lower rotating shaft 15 moves synchronously to the first origami branch 12 and the second origami branch 13 through the lower branch clamp 16.

[0043] Both the X-axis translation module 2 and the Y-axis translation module 3 include an upper motor 6 and an upper rotating shaft 7. A second driving gear is fixedly installed at the output end of the upper motor 6. A second driven gear is meshed with the outer side of the second driving gear. The middle part of the second driven gear is fixedly connected to one end of the upper rotating shaft 7. An upper branch clamp 10 is fixedly installed in the middle of the upper rotating shaft 7. A polyimide film 11 is hinged to the top of one side of the upper branch clamp 10. A rotating shaft seat is rotatably connected to the bottom end of the upper rotating shaft 7. A linear slide rail is fixedly installed on one side of the rotating shaft seat. A linear slide table 8 is slidably connected in the middle of the linear slide rail. One side of the top of the linear slide table 8 is rotatably connected to the bottom end of the polyimide film 11. An upper origami branch 9 is fixedly installed on the other side of the top of the linear slide table 8. One end of the upper origami branch 9 is movably connected to the self-gripping ball joint 5. The bottom end of the upper motor 6 is fixedly connected to the first support base 1.

[0044] In use, the upper motor 6 drives the second driving gear to rotate. The second driving gear contacts the second driven gear, and the second driven gear rotates due to friction. The second driven gear drives the upper rotating shaft 7 to rotate. The upper rotating shaft 7 drives the polyimide film 11 to open and close through the upper branch clamp 10, so that the linear slide 8 slides along the linear slide rail, adjusting the position of the upper origami branch 9. The upper origami branch 9 adjusts the position of the self-gripping ball pair 5.

[0045] The bottom ends of both lower motors 14 are fixedly connected to the base Ⅲ.

[0046] In use, the lower two-degree-of-freedom parallel module II is mounted on the base III via the lower motor 14.

[0047] The self-gripping ball joint 5 includes a ball socket 20, two ball joints 19, and two gripping claws 18. The two sides of the inner wall of the ball socket 20 are rotatably connected to one end of the two ball joints 19, and the two ends of the inner wall of the ball socket 20 are rotatably connected to one side of the two gripping claws 18. The outer side of the ball socket 20 is movably connected to the X-axis translation module 2, the Y-axis translation module 3, and the Z-axis translation module 4. The opposite sides of the two ball joints 19 are in contact with the slender tool IV.

[0048] In use, the ball joint 19 has a guide hole in the axial direction for the slender tool IV to pass through; the clamping claws 18 are symmetrically arranged on both sides of the guide hole of the ball joint 19 via a revolute joint; the ball joint 19 is located in the ball socket 20; the curvature of the clamping claws 18 on the contact side with the slender tool IV gradually increases; when the slender tool IV moves upward in the guide hole, the clamping claws 18 rotate under the action of friction, and because the curvature of the clamping claws 18 gradually increases in this rotational direction, the slender tool IV is locked; when the slender tool IV moves downward in the guide hole, the clamping claws 18 rotate in the opposite direction, and because the curvature of the clamping claws 18 gradually decreases in this rotational direction, the slender tool IV is released.

[0049] The interior of the guide ball assembly 17 is in contact with the slender tool IV.

[0050] In use, the lower two-degree-of-freedom parallel module II is installed on both sides of the slender tool IV via guide ball joint 17.

[0051] Carbon fiber plates 21 are fixedly installed at both ends of the polyimide film 11.

[0052] The lower first origami branch 12 is composed of a first carbon fiber connecting rod, a second carbon fiber connecting rod and a third carbon fiber connecting rod that are hinged together. One end of the first carbon fiber connecting rod is connected to the lower rotating shaft 15 directly opposite the lower branch 16 through the lower branch clamp 16, and one end of the third carbon fiber connecting rod is connected to the guide ball joint 17.

[0053] In use, the first carbon fiber connecting rod to the third carbon fiber connecting rod are connected end to end through the polyimide film 11 to form a three-bar linkage.

[0054] The lower second origami branch 13 is composed of a fourth carbon fiber link and a fifth carbon fiber link hinged together. One end of the fourth carbon fiber link is connected to the lower pivot 15 through the lower branch clip 16, and one end of the fifth carbon fiber link is connected to the guide ball joint 17.

[0055] In use, the fourth to fifth carbon fiber connecting rods are connected end to end through the polyimide film 11 to form a two-bar mechanism; the third carbon fiber connecting rod of the lower first origami branch 12 and the fifth carbon fiber connecting rod of the lower second origami branch 13 are both fixed on the guide ball joint 17, together forming the lower four-bar two-degree-of-freedom parallel mechanism.

[0056] In this invention, the upper motor 6 drives the second driving gear to rotate, and the second driving gear contacts the second driven gear. The second driven gear rotates due to friction, and the second driven gear drives the upper rotating shaft 7 to rotate. The upper rotating shaft 7 drives the polyimide film 11 to open and close through the upper branch clamp 10, so that the linear slide 8 slides along the linear slide rail, adjusting the position of the upper origami branch 9. The upper origami branch 9 adjusts the position of the self-gripping ball joint 5. The fourth to seventh carbon fiber plates of the upper origami branch 9 are connected end to end through the polyimide film 11 to form a four-bar linkage mechanism. The fourth carbon fiber plate of the upper origami branch 9 is glued above the third carbon fiber plate of the upper origami branch 9. The seventh carbon fiber plate of the upper origami branch chain 9 is connected to the self-gripping ball joint 5; the third carbon fiber plate of the upper origami branch chain 9 is driven by the upper motor 6 to translate along the guide direction of the linear slide 8, thereby driving the fourth to seventh carbon fiber plates of the upper origami branch chain 9 and the self-gripping ball joint 5 to translate along the guide direction of the linear slide 8; when the self-gripping ball joint 5 translates along the Y-axis or Z-axis, the included angle between the links of the four-bar linkage composed of the fourth to seventh carbon fiber plates of the upper origami branch chain 9 will passively change to adapt to the position of the self-gripping ball joint 5 on the Y-axis and Z-axis. The structure of the Y-axis translation module 3 and the Z-axis translation module 4 is similar to that of the X-axis translation module 2; the X-axis translation module 2 adjusts the X-axis of the self-gripping ball joint 5 according to the setting. Coordinates; Y-axis translation module 3 adjusts the Y-coordinate of the self-gripping ball joint 5 according to the settings; Z-axis translation module 4 adjusts the Z-coordinate of the self-gripping ball joint 5 according to the settings; Since the upper origami branch 9 of X-axis translation module 2, Y-axis translation module 3, and Z-axis translation module 4 are orthogonal; the self-gripping ball joint 5 will only perform translation and will not pitch, sway, or roll; the first carbon fiber link to the third carbon fiber link is connected end to end through polyimide film 11 to form a three-bar linkage; the fourth carbon fiber link to the fifth carbon fiber link is connected end to end through polyimide film 11 to form a two-bar linkage; the third carbon fiber link of the lower first origami branch 12 and the fifth carbon fiber link of the lower second origami branch 13 are both fixed. The guide ball joint 17 is fixed on the guide ball joint 19, together forming the lower four-bar two-degree-of-freedom parallel mechanism. The ball joint 19 has a guide hole in the axial direction for the slender tool IV to pass through. The clamping jaws 18 are symmetrically arranged on both sides of the guide hole of the ball joint 19 through a revolute joint. The ball joint 19 is set in the ball socket 20. The curvature of the clamping jaws 18 on the contact side with the slender tool IV gradually increases. When the slender tool IV moves upward in the guide hole, the clamping jaws 18 rotate under the action of friction. In this rotational direction, because the curvature of the clamping jaws 18 gradually increases, the slender tool IV is locked. When the slender tool IV moves downward in the guide hole, the clamping jaws 18 rotate in the opposite direction. In this rotational direction, because the curvature of the clamping jaws 18 gradually decreases, the slender tool IV is released. (Refer to the attached instruction manual.) Figure 7-10The upper three-degree-of-freedom parallel module I drags the end self-gripping ball joint 5 to perform three-degree-of-freedom translational motion; the lower two-degree-of-freedom parallel module II drags the end guide ball joint 17 to perform two-degree-of-freedom translational motion; the slender tool IV passes through the guide hole set at the center of the self-gripping ball joint 5 and the guide ball joint 17; the upper three-degree-of-freedom parallel module I and the lower two-degree-of-freedom parallel module II coordinate their movements according to the settings to adjust the position and posture of the slender tool IV; such as Figure 11-12 As shown, the lower ball joint 19 remains stationary, while the upper self-gripping ball joint 19 reciprocates along the axis of the slender tool IV. Due to the unidirectional locking characteristic of the self-gripping ball joint 19, when moving upward, the self-gripping ball joint 19 releases the slender tool IV, and when moving downward, the self-gripping ball joint 19 locks the slender tool IV, causing the slender tool IV to move downward together, thereby completing the feed.

[0057] The slender tools described in this invention include, but are not limited to, puncture needles.

[0058] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A five-degree-of-freedom robot based on origami, comprising a robot, characterized in that: The robot includes an upper three-degree-of-freedom parallel module (I), a base (III), and a slender tool (IV). The middle part of the top of the base (III) is fixedly connected to the bottom of the slender tool (IV). A lower two-degree-of-freedom parallel module (II) penetrating the slender tool (IV) is fixedly installed on the top of the base (III). The top of the lower two-degree-of-freedom parallel module (II) is connected to the bottom of the upper three-degree-of-freedom parallel module (I). The upper three-degree-of-freedom parallel module (I) includes a first support base (1), an X-axis translation module (2), a Y-axis translation module (3), a Z-axis translation module (4), and a self-gripping ball joint (5). One side of the top of the first support base (1) is fixedly connected to the bottom of the X-axis translation module (2). One end of the top of the first support base (1) is fixedly connected to the bottom of the Y-axis translation module (3). The top of the first support base (1) is fixedly connected to the bottom of the Z-axis translation module (4). One side of the Z-axis translation module (4), one side of the X-axis translation module (2), and one side of the Y-axis translation module (3) are all movably connected to the side of the self-gripping ball joint (5) directly opposite to it. The lower-level two-degree-of-freedom parallel module (II) includes two lower-level motors (14) and two lower-level rotating shafts (15). The output ends of the two lower-level motors (14) are fixedly equipped with first driving gears. The outer sides of the two first driving gears are meshed with first driven gears. The middle parts of the two first driven gears are respectively fixedly connected to one end of the two lower-level rotating shafts (15). The sides of the two lower-level rotating shafts (15) are fixedly equipped with lower-level branch clamps (16). One end of one lower-level branch clamp (16) is fixedly equipped with a lower-level first origami branch (12), and one end of the other lower-level branch clamp (16) is fixedly equipped with a lower-level second origami branch (13). A guide ball pair (17) is movably connected between one end of the lower-level first origami branch (12) and one end of the lower-level second origami branch (13).

2. The five-DOF robot based on origami according to claim 1, characterized in that: Both the X-axis translation module (2) and the Y-axis translation module (3) include an upper motor (6) and an upper rotating shaft (7). A second driving gear is fixedly installed at the output end of the upper motor (6). A second driven gear is meshed with the outer side of the second driving gear. The middle part of the second driven gear is fixedly connected to one end of the upper rotating shaft (7). An upper branch clamp (10) is fixedly installed in the middle of the upper rotating shaft (7). A polyimide film (11) is hinged to the top of one side of the upper branch clamp (10). The bottom end of the layer rotating shaft (7) is rotatably connected to a rotating shaft seat. A linear slide rail is fixedly installed on one side of the rotating shaft seat. A linear slide table (8) is slidably connected in the middle of the linear slide rail. One side of the top of the linear slide table (8) is rotatably connected to the bottom end of the polyimide film sheet (11). The other side of the top of the linear slide table (8) is fixedly installed with an upper origami branch chain (9). One end of the upper origami branch chain (9) is movably connected to a self-gripping ball joint (5). The bottom end of the upper motor (6) is fixedly connected to the first support base (1).

3. A five-degree-of-freedom robot based on origami according to claim 1, characterized in that: The bottom ends of both lower motors (14) are fixedly connected to the base (Ⅲ).

4. A five-DOF robot based on origami according to claim 1, characterized in that: The self-gripping ball joint (5) includes a ball socket (20), two ball joints (19) and two gripping claws (18). The two sides of the inner wall of the ball socket (20) are rotatably connected to one end of the two ball joints (19), and the two ends of the inner wall of the ball socket (20) are rotatably connected to one side of the two gripping claws (18). The outer side of the ball socket (20) is movably connected to the X-axis translation module (2), the Y-axis translation module (3), and the Z-axis translation module (4). The opposite sides of the two ball joints (19) are in contact with the slender tool (Ⅳ).

5. A five-DOF robot based on origami according to claim 1, characterized in that: The interior of the guide ball assembly (17) is in contact with the elongated tool (Ⅳ).

6. A five-degree-of-freedom robot based on origami according to claim 1, characterized in that: Carbon fiber plates (21) are fixedly installed at both ends of the polyimide film (11).

7. A five-DOF robot based on origami according to claim 1, characterized in that: The lower first origami branch (12) is composed of a first carbon fiber link, a second carbon fiber link and a third carbon fiber link hinged together. One end of the first carbon fiber link is connected to the lower rotating shaft (15) through the lower branch clip (16), and one end of the third carbon fiber link is connected to the guide ball pair (17).

8. A five-DOF robot based on origami according to claim 1, characterized in that: The lower second origami branch (13) is composed of a fourth carbon fiber link and a fifth carbon fiber link hinged together. One end of the fourth carbon fiber link is connected to the lower rotating shaft (15) through the lower branch clip (16), and one end of the fifth carbon fiber link is connected to the guide ball pair (17).

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