The invention discloses a modular self-adaptive
robot device based on SMA driving paper folding
bionics. The modular self-adaptive
robot device is composed of peak folding rods, valley folding rods, SMA wires, a magnetic attraction connecting structure and a 3D printing bottom plate, and self-adaptive operation is achieved through driving-sensing-structure integrated cooperation. The SMA wires have driving and sensing functions,
structural deformation is driven through PWM, resistance change of the
structural deformation is measured in real time, and axial telescoping, radial telescoping and bending of the module can be controlled in a closed-loop mode without an external sensor. The device is combined based on the lever amplification principle, tiny deformation of the SMA wire is efficiently converted into large-
stroke output of a mechanism, and the problem that the
stroke of an SMA driver is limited is solved. A single module has three
modes of radial expansion, linear actuation and torsion joint, and complex movement can be completed through combination. A plurality of modules are connected in series with a quick connecting piece through magnetic attraction, and the functions of bionic wriggling, rod cable climbing or multi-section operation arm can be achieved through
time sequence programming. And a flexible and reconfigurable
robot solution is provided for detection and rescue tasks in a complex environment.