A Programmably Compliant Origami Mechanism for Dynamically Dexterous Robots
A Programmably Compliant Origami Mechanism for Dynamically Dexterous Robots
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DOI：
10.1109/lra.2020.2970637
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发表时间：
2020-04-01
影响因子：
5.2
通讯作者：
Sung, Cynthia R.
中科院分区：
文献类型：
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作者：
Chen, Wei-Hsi;Misra, Shivangi;Sung, Cynthia R.
我们提出了一种通过可编程的柔性折纸机构来克服机器人动态灵巧性挑战的方法。我们的工作利用了一个单参数的平板折痕图案家族，折叠成折纸波纹，其轴向顺应性可以调整以选择所需的刚度。同心排列的气缸副可靠地显示了附加刚度，将可编程范围扩展了近一个数量级，并在使用8mil厚聚酯涂层纸时实现了200-1500 Nm（-1）的整体轴向刚度。因此，我们设计了一个刚度为1035 N m（-1）的折纸储能弹簧，并将其整合到一个三自由度（DOF）肌腱驱动的空间指向机构中，该机构在（类似于2 cm）(3)体积内的轨迹跟踪精度小于15%均方根误差。折纸弹簧可以维持高功率吞吐量，使机器人能够在垂直方向上实现高弹性（1公斤弹性铅球）和高阻尼（“健身球”）碰撞的渐近稳定，顶点高度接近10厘米。结果表明，“软”机器人机构能够执行受控的、动态驱动的任务。
We present an approach to overcoming challenges in dynamical dexterity for robots through programmably compliant origami mechanisms. Our work leverages a one-parameter family of flat sheet crease patterns that folds into origami bellows, whose axial compliance can be tuned to select desired stiffness. Concentrically arranged cylinder pairs reliablymanifest additive stiffness, extending the programmable range by nearly an order of magnitude and achieving bulk axial stiffness spanning 200-1500 Nm(-1) using 8 mil thick polyester-coated paper. Accordingly, we design origami energy-storing springs with a stiffness of 1035 N m(-1) each and incorporate them into a three degree-of-freedom (DOF) tendon-driven spatial pointing mechanism that exhibits trajectory tracking accuracy less than 15% rms error within a (similar to 2 cm)(3) volume. The origami springs can sustain high power throughput, enabling the robot to achieve asymptotically stable juggling for both highly elastic (1 kg resilient shotput ball) and highly damped ("medicine ball") collisions in the vertical direction with apex heights approaching 10 cm. The results demonstrate that "soft" robotic mechanisms are able to perform a controlled, dynamically actuated task.