Bioinspired dual-stiffness origami
Bioinspired dual-stiffness origami
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DOI：
10.1126/scirobotics.aau0275
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发表时间：
2018-07-25
期刊：
影响因子：
25
通讯作者：
Floreano, Dario
中科院分区：
文献类型：
--
作者：
Mintchev, Stefano;Shintake, Jun;Floreano, Dario
折纸制造在可折叠结构领域取得了相当大的进步，并在机器人、航空航天和超材料领域得到了创新应用。然而，现有的折纸是承载结构，如果过载则易于撕裂和失效，或者是具有有限负载能力的弹性软结构。在这篇手稿中，我们描述了一个折纸结构，显示高承载和高弹性的特点。该结构受到昆虫翅膀的启发，由一个预拉伸的弹性膜组成，类似于昆虫翅膀的柔软弹性蛋白关节，夹在刚性瓷砖之间，类似于昆虫翅膀的刚性cured。通过使用折纸作为四轴飞行器框架的元素来验证所提出的结构的双刚度特性，该四轴飞行器框架可以承受其飞行包线内的空气动力，但在碰撞期间软化以避免永久性损坏。此外，我们展示了一个折纸夹持器，可用于刚性把握，但软化，以避免超载的操纵对象。
Origami manufacturing has led to considerable advances in the field of foldable structures with innovative applications in robotics, aerospace, and metamaterials. However, existing origami are either load-bearing structures that are prone to tear and fail if overloaded or resilient soft structures with limited load capability. In this manuscript, we describe an origami structure that displays both high load bearing and high resilience characteristics. The structure, which is inspired by insect wings, consists of a prestretched elastomeric membrane, akin to the soft resilin joints of insect wings, sandwiched between rigid tiles, akin to the rigid cuticles of insect wings. The dual-stiffness properties of the proposed structure are validated by using the origami as an element of a quadcopter frame that can withstand aerodynamic forces within its flight envelope but softens during collisions to avoid permanent damage. In addition, we demonstrate an origami gripper that can be used for rigid grasping but softens to avoid overloading of the manipulated objects.