TMP origami jumping mechanism with nonlinear stiffness
TMP origami jumping mechanism with nonlinear stiffness
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DOI：
10.1088/1361-665x/abf5b2
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发表时间：
2021-04
影响因子：
4.1
通讯作者：
Sahand Sadeghi;Sam Allison;Blake Bestill;Suyi Li
中科院分区：
文献类型：
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作者：
Sahand Sadeghi;Sam Allison;Blake Bestill;Suyi Li
通过数值模拟和实验评估，本研究探讨了利用折纸折叠来开发具有定制的非线性刚度的机器人跳跃机构，以提高动态性能。我们提出了一种多功能结构，该结构的承重骨架同时作为储能介质。具体地说，我们使用折纸下面的Tachi-Miura多面体(TMP)作为嵌入能量存储的跳跃机器人骨架。TMP的非线性刚度使其比线性弹簧存储更多的能量，并提供更好的跳跃高度和播放时间。此外，可以通过直接改变底层TMP折痕几何形状来定制非线性。一个关键的挑战是将TMP在跳跃前的压缩阶段的滞后和能量损失降至最低。因此，我们使用了塑料退火板浮现折纸的概念来修改TMP折痕。古生物在塑性变形发生前增加了褶皱极限，从而改善了总体应变能保持。跳跃实验证实，与具有相对线性刚度的对照TMP样品相比，非线性TMP机构的空气时间缩短了约9%，跳跃高度提高了13%。这项研究的结果验证了在机器人跳跃机构中使用折纸的优势，并证明了利用非线性弹簧元件来提高跳跃性能的好处。因此，他们可以培育出一种新的能量高效、性能优化的跳跃机构家族。
Via numerical simulation and experimental assessment, this study examines the use of origami folding to develop robotic jumping mechanisms with tailored nonlinear stiffness to improve dynamic performance. We propose a multifunctional structure where the load-carrying skeleton of the structure acts as the energy-storage medium at the same time. Specifically, we use Tachi–Miura polyhedron (TMP) bellow origami—which exhibits a nonlinear ‘strain-softening’ force-displacement curve—as a jumping robotic skeleton with embedded energy storage. TMP’s nonlinear stiffness allows it to store more energy than a linear spring and offers improved jumping height and airtime. Moreover, the nonlinearity can be tailored by directly changing the underlying TMP crease geometry. A critical challenge is to minimize the TMP’s hysteresis and energy loss during its compression stage right before jumping. So we used the plastically annealed lamina emergent origami (PALEO) concept to modify the TMP creases. PALEO increases the folding limit before plastic deformation occurs, thus improving the overall strain energy retention. Jumping experiments confirmed that a nonlinear TMP mechanism achieved roughly 9% improvement in air time and a 13% improvement in jumping height compared to a ‘control’ TMP sample with a relatively linear stiffness. This study’s results validate the advantages of using origami in robotic jumping mechanisms and demonstrate the benefits of utilizing nonlinear spring elements for improving jumping performance. Therefore, they could foster a new family of energetically efficient jumping mechanisms with optimized performance in the future.