Origami Robot Structure for Switching Air, Ground, and Water Modes
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Solution Overview
Problem
Existing robot technologies fail to seamlessly integrate wheeled, rotorcraft, and aquatic modes, leading to increased size, stability issues, and complex control algorithms, while lacking independent motion capabilities in each configuration.
Innovation Solution
A robot design based on origami principles with a single degree of freedom, utilizing linkage components, central panels, and sector-shaped panels, enabled by a folding/unfolding motor and motion control system, allowing complete switching between multirotor, wheel, and waterborne configurations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If passive wheels are added to a rotorcraft robot to combine motion functionalities, then the robot can perform both aerial flight and wheeled motion, but the robot size increases and flight stability is affected
Solution Approach 1:
The patent merges the rotorcraft and wheeled structures into a single integrated body where the rotor arms themselves serve as the wheeled structure. The four rotor arms can function as rotors for aerial flight or fold down to serve as wheels for ground motion, eliminating the need for separate passive wheel components and reducing overall robot volume.
Solution Approach 2:
The rotor arms are designed with multi-functionality, serving dual purposes as both flight rotors and ground wheels. This universal design allows the same structural components to perform different functions depending on the operational mode, thereby reducing the total number of components and robot size while maintaining versatility.
2Adaptability or versatility
If multiple degrees of freedom are introduced to increase motion modes, then the robot can achieve more motion configurations, but the control algorithm complexity increases
Solution Approach 1:
The control system is segmented into three independent modules: configuration switching control, aerial flight control, and ground motion control. Each module handles specific tasks independently, simplifying the overall control algorithm. The configuration switching module manages the transition between modes, while the flight and ground control modules handle respective motion controls without interfering with each other.
Solution Approach 2:
The robot employs dynamic configuration switching where the structure adapts its degrees of freedom based on the operational mode. In aerial mode, the rotor arms are positioned for flight with appropriate degrees of freedom; in ground mode, they fold down to serve as wheels with constrained degrees of freedom. This dynamic adaptation simplifies control by activating only the necessary degrees of freedom for each mode.
3Adaptability or versatility
If a simple combination of wheeled and rotorcraft functionalities is achieved, then the robot can switch between configurations, but complete switching between wheel and rotorcraft configurations is not possible, and independent motion modes cannot be achieved
Solution Approach 1:
The robot achieves complete configuration switching through dynamic structural transformation. The four rotor arms can be dynamically positioned in different configurations: extended upward for aerial flight, folded downward for ground wheeled motion, or positioned at intermediate angles for waterborne motion. This dynamic reconfiguration enables complete switching between modes with reliable independent operation of each motion type.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The robot achieves independent operation in flight, rolling, and waterborne modes without interference, simplifying control algorithms and expanding application scenarios.
Implementation Method 1
the folding/unfolding motor is configured to drive the connecting elements to control the robot to switch to any one of a multirotor configuration, a wheel configuration, or a waterborne motion configuration
Implementation Method 2
the rotor component comprises a rotor motor and blades, and the rotor motor is configured to drive the blades to rotate in any one of the flight mode, the rolling mode, or the waterborne motion mode
Implementation Method 3
a side of the sector-shaped panel that is away from the central panels is mounted with an arc-shaped support component, the arc-shaped support component comprising a buoyancy assembly
Data Source
AI summary
A robot based on origami principles, includes: linkage components, central panels, and a plurality of sector-shaped panels, wherein: two ends of the linkage components are connected to a same number of the sector-shaped panels, with every two adjacent sector-shaped panels connected by a respective one of connecting elements; the central panels are located in a middle of the linkage components, and the central panels are configured for placement of a control assembly, the control assembly comprising a folding/unfolding motor and a motion control system; the folding/unfolding motor is configured to drive the connecting elements to control the robot to switch to any one of a multirotor configuration, a wheel configuration, or a waterborne motion configuration.