An Extensible Continuum Robot With Integrated Origami Parallel Modules
An Extensible Continuum Robot With Integrated Origami Parallel Modules
复制标题
具有集成折纸并行模块的可扩展连续体机器人
DOI：
10.1115/1.4031808
复制
发表时间：
2016-06-01
影响因子：
2.6
通讯作者：
Dai, Jian S.
中科院分区：
文献类型：
--
作者：
Zhang, Ketao;Qiu, Chen;Dai, Jian S.
本文提出了一种新的设计，可扩展的连续体机器人在折纸启发折叠技术。该设计从一个模块化的折痕图案开始，它由两个三角形基地和三个水炸弹基地组成，并从折痕图案创建折纸平行结构的折叠过程。该过程进一步进行以产生具有折纸平行结构和螺旋压缩弹簧的顺应性模块。提出了一种集成柔性并联模块的新型可扩展连续体机器人，该机器人不仅可以模拟自然界中连续体的弯曲运动，还可以模拟连续体的收缩运动。将折纸并联机构映射为等价的运动学模型，从运动学原理的角度揭示了折纸并联机构的运动特性。分析揭示了折纸平行模块的混合旋转和平移运动，特别是用于偏航和俯仰运动的虚拟轴。根据建议的连续体机器人的运动学和集成的螺旋弹簧在每个模块中的特点，三个驱动方案和由此产生的典型工作阶段与肌腱驱动系统。作为概念验证，制作了具有六个串联模块的可扩展连续体机器人原型。初步的实验结果验证了所提出的连续体机器人的功能与集成折纸并联结构作为其骨架和螺旋弹簧作为柔性骨干。
This paper presents a novel design for extensible continuum robots in light of origami inspired folding techniques. The design starts from a modularized crease pattern, which consists of two triangular bases and three waterbomb bases, and the folding process for creating an origami parallel structure from the crease pattern. The process further progresses to generate a compliant module with the origami parallel structure and a helical compression spring. A novel extensible continuum robot with integrated compliant parallel modules is then proposed to imitate not only the bending motion but also the contraction of continuum apparatus in nature. Mapping the origami parallel structure to an equivalent kinematic model, the motion characteristics of the origami structure are unraveled in terms of kinematic principles. The analysis reveals the mixed rotational and translational motion of the origami parallel module and the virtual axis for yaw and pitch motion in particular. According to the kinematics of the proposed continuum robot and features of the integrated helical spring in each module, three actuation schemes and resultant typical working phases with a tendon driven system are presented. A prototype of the extensible continuum robot with six modules connected in serial is produced as a proof of concept. The functionality of the proposed continuum robot with integrated origami parallel structure as its skeleton and helical springs as the compliant backbone is validated by the preliminary experimental results.