A Modular Folded Laminate Robot Capable of Multi Modal Locomotion
A Modular Folded Laminate Robot Capable of Multi Modal Locomotion
复制标题
具有多模式运动能力的模块化折叠层压板机器人
DOI：
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发表时间：
2016
期刊：
影响因子：
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通讯作者：
R. Wood
中科院分区：
文献类型：
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作者：
Je;Daniel M. Aukes;Brandon Araki;Sarah Pohorecky;Yash Mulgaonkar;M. Tolley;Vijay R. Kumar;D. Rus;R. Wood
本文介绍了折叠式机器人，特别是由闭合运动连杆机构组成的移动机器人的二维图案设计的基本原理。介绍了设计闭链折叠式四杆机构的三种基本方法--这些装置的基本构件。模块化连接策略也被引入作为一种方法，以克服从二维板设计连杆组件的挑战。其结果是设计过程探索了连杆制造的复杂性之间的权衡，并允许设计者结合多种功能或运动模式。为了体现这些设计原则，提出了一种能够实现多通道运动和抓取的模块化机器人。
This paper describes fundamental principles for two-dimensional pattern design of folded robots, specifically mobile robots consisting of closed-loop kinematic linkage mechanisms. Three fundamental methods for designing closed-chain folded four-bar linkages – the basic building block of these devices – are introduced. Modular connection strategies are also introduced as a method to overcome the challenges of designing assemblies of linkages from a two-dimensional sheet. The result is a design process that explores the tradeoffs between the complexity of linkage fabrication and also allows the designer combine multiple functions or modes of locomotion. A redesigned modular robot capable of multi-modal locomotion and grasping is presented to embody these design principles.