Design and Fabrication of a Deployable Rubber Membrane for a Circular Mesh-Type Robot
Design and Fabrication of a Deployable Rubber Membrane for a Circular Mesh-Type Robot
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圆网状机器人可展开橡胶膜的设计与制造
DOI：
10.1109/icarcv.2018.8581220
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发表时间：
2018
期刊：
影响因子：
--
通讯作者：
Noriyasu Iwamoto
中科院分区：
文献类型：
--
作者：
Yang Jiang;A. Nishikawa;Noriyasu Iwamoto
本文介绍了一种将软机器人技术和折纸技术相结合的模块化机器人的设计和制造过程。多个模块化机器人的集成提供了超自由度，并创建了一个可变形的系统。软机器人技术在模块化机器人中的应用使其能够适应不同的环境。选择一种可行的模块化机器人设计和制造方法是获得系统理想变形的必要条件。在提出的各种方法中，基于数学运算的折纸结构的应用可以方便弹性机器人的设计过程。在这里，我们提出了一种新型的圆形网格型机器人，它具有平面和三维形状变换功能。然后，将保角映射折纸结构应用于软体机器人，制作了变半径圆形机器人的关键部件--可剥离橡胶膜。
This paper shows a design and fabrication process that combines soft robotics and origami technology for developing a modular robot. Integration of multiple modular robots provides hyper degrees of freedom and creates a deformable system. The application of soft robotics to a modular robot makes it adaptable to diverse environments. Choosing a feasible method of design and fabrication for the modular robot is necessary to obtain the desirable deformation of the system. Among the various proposed methods, application of origami structures based on mathematical operations can facilitate the design process of elastic robots. Here, we propose a novel circular mesh-type robot that has planar and three-dimensional shape transformation functions. Then, we present the application of conformal mapping origami structure to a soft robot and make a deplorable rubber membrane, which is a key part of a variable-radius circular robot.