CN114589685A - Shape memory alloy wire-driven soft robot based on mother-child origami - Google Patents

Shape memory alloy wire-driven soft robot based on mother-child origami Download PDF

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CN114589685A
CN114589685A CN202210160926.1A CN202210160926A CN114589685A CN 114589685 A CN114589685 A CN 114589685A CN 202210160926 A CN202210160926 A CN 202210160926A CN 114589685 A CN114589685 A CN 114589685A
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CN114589685B (en
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庄国志
方倩艺
巫天越
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Zhejiang University ZJU
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
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    • B25J9/00Programme-controlled manipulators
    • B25J9/10Programme-controlled manipulators characterised by positioning means for manipulator elements
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Abstract

本发明公开了一种基于子母折纸的形状记忆合金丝驱动软体机器人,其包括子母折纸主体和两根SMA丝,所述子母折纸主体由两个子结构、两个母结构组成。所述子结构和母结构均为折纸管结构,且所述折纸管结构是由两个完全相同的Miura折纸基本单元组成的管状结构,折纸管结构关于中间四条折痕线组成的中间对称面左右对称,两侧管口呈菱形;所述子结构与母结构结构相同,子结构尺寸小于母结构尺寸。两根SMA丝分别位于子母折纸主体的上下表面,且被约束为呈U形。本发明的两根SMA丝在交替通电下可使机器人向一个方向前行。子母折纸,具有显著的抗弯、抗扭能力,保证了机器人站立的平稳性,并提供有助于移动的各向异性摩擦机制。

Figure 202210160926

The invention discloses a shape memory alloy wire-driven soft robot based on child and mother origami, which comprises a child and mother origami main body and two SMA wires, wherein the child and mother origami main body is composed of two sub-structures and two mother structures. The child structure and the parent structure are both origami tube structures, and the origami tube structure is a tubular structure composed of two identical Miura origami basic units, and the origami tube structure is about the middle symmetry plane formed by the four middle crease lines. Symmetrical, the nozzles on both sides are diamond-shaped; the sub-structure is the same as the parent structure, and the size of the sub-structure is smaller than that of the parent structure. Two SMA wires are respectively located on the upper and lower surfaces of the main body of the child and mother origami, and are constrained to form a U shape. The two SMA wires of the present invention can make the robot move forward in one direction under alternating current. The mother-child origami has remarkable bending and torsion resistance, which ensures the stability of the robot's standing and provides an anisotropic friction mechanism that facilitates movement.

Figure 202210160926

Description

基于子母折纸的形状记忆合金丝驱动软体机器人Shape memory alloy wire-driven soft robot based on mother-child origami

技术领域technical field

本发明属于软体机器人设计领域,具体涉及一种基于子母折纸的形状记忆合金丝驱动软体机器人。The invention belongs to the field of soft robot design, in particular to a shape memory alloy wire-driven soft robot based on child-mother origami.

背景技术Background technique

刚性机器人由于其笨重、僵硬的框架,不适合收纳、运输或者在狭小的空间中工作,从而如何设计轻质、柔顺的软体机器人成为科学界以及工程领域的重要研究课题之一。Rigid robots are not suitable for storage, transportation or work in small spaces due to their bulky and rigid frames. Therefore, how to design lightweight and flexible soft robots has become one of the important research topics in the scientific and engineering fields.

近几十年来,研究人员提出了一种新的结构,称为折纸。折纸这个术语用来描述一种古老的折叠艺术,ori的词根表示折叠,而-gami表示纸张。折纸术的基本理论是将一张纸从二维变形为三维几何镶嵌,近几十年来,这一思想的研究和应用超出了纯粹的美学目的。在刚性折纸图案中,折痕线包围的表面在折叠过程中不允许拉伸或弯曲。刚性折叠、平面折叠和可展的特性使刚性折纸结构具有广泛的潜在应用,作为一种基本的刚性折纸图案,Miura折纸具有几何简单性和优异的机械性能,并能从运动学角度唯一地描述其运动,这种新颖的结构引起了研究人员的注意,并对这种结构的许多不同方面进行了研究。In recent decades, researchers have proposed a new structure called origami. The term origami is used to describe an ancient art of folding, with the root ori meaning folding and -gami meaning paper. The basic theory of origami is to deform a sheet of paper from two dimensions into a three-dimensional geometric mosaic, and in recent decades this idea has been studied and applied beyond purely aesthetic purposes. In a rigid origami pattern, the surface enclosed by the crease line is not allowed to stretch or bend during the folding process. The rigid folding, planar folding, and unfoldable properties make rigid origami structures a wide range of potential applications. As a basic rigid origami pattern, Miura origami possesses geometric simplicity and excellent mechanical properties, and can be uniquely described from a kinematic perspective. Its motion, this novel structure has caught the attention of researchers, and many different aspects of this structure have been studied.

由于折纸结构的可折叠性与特殊的力学性质,它可以作为如形状记忆合金丝之类的轻质、柔顺驱动材料的良好载体,组成具有移动能力的软体机器人。Due to the foldability and special mechanical properties of the origami structure, it can be used as a good carrier for lightweight and compliant actuation materials such as shape memory alloy wires to form soft robots with mobility.

发明内容SUMMARY OF THE INVENTION

为了克服现有技术的不足,本发明提供了一种基于子母折纸的形状记忆合金丝驱动软体机器人。In order to overcome the deficiencies of the prior art, the present invention provides a shape memory alloy wire-driven soft robot based on child-mother origami.

本发明提供了一种基于子母折纸的形状记忆合金丝驱动软体机器人,其特征在于,包括子母折纸主体和两根形状记忆合金丝,所述子母折纸主体由两个子结构、两个母结构组成。所述子结构和母结构均为折纸管结构,且所述折纸管结构是由两个完全相同的Miura折纸基本单元组成的管状结构,折纸管结构关于中间四条折痕线组成的中间对称面左右对称,两侧管口呈菱形;所述子结构与母结构结构相同,子结构尺寸为母结构尺寸的0.5-0.7倍;The invention provides a shape memory alloy wire-driven soft robot based on child-mother origami, which is characterized by comprising a child-mother origami main body and two shape memory alloy wires. The child-mother origami main body consists of two substructures, two mother Structure and composition. Both the sub-structure and the parent structure are origami tube structures, and the origami tube structure is a tubular structure composed of two identical Miura origami basic units, and the origami tube structure is about the middle symmetry plane formed by the four middle crease lines. Symmetrical, the nozzles on both sides are diamond-shaped; the substructure is the same as the parent structure, and the size of the substructure is 0.5-0.7 times the size of the parent structure;

所述基于子母折纸的形状记忆合金丝驱动软体机器人采用如下方法制作:The shape memory alloy wire-driven soft robot based on child-mother origami is produced by the following method:

1)两个母结构以相同的姿态排列,且使两个母结构各自的中间对称面、前后两侧的管壁面均处于竖直状态;将两个母结构紧靠,使两者互补的管壁面互相接触,且中间对称面共面;1) The two female structures are arranged in the same posture, and the respective middle symmetrical planes of the two female structures and the pipe wall surfaces on the front and rear sides are in a vertical state; The walls are in contact with each other, and the median plane of symmetry is coplanar;

2)上下颠倒其中一个母结构,仍使互补的管壁面接触且中间对称面共面;调整其中一个母结构的高度,使一个母结构两侧管口的右下角与另一个母结构两侧管口的左上角贴合,以此状态黏贴两个母结构使其相互固定;2) Turn one of the female structures upside down, so that the complementary pipe wall surfaces are in contact and the middle symmetry planes are coplanar; adjust the height of one of the female structures so that the lower right corner of the nozzles on both sides of one female structure is connected to the pipes on both sides of the other female structure. The upper left corner of the mouth is attached, and in this state, the two mother structures are pasted to make them fixed to each other;

3)在两个母结构的正下方以与母结构相同的姿态各自固定一个子结构,并使两个子结构互补的两个管壁面贴合固定;四个折纸管结构的中间对称面位于竖直平面且共面;3) Fix a sub-structure directly under the two parent structures with the same attitude as the parent structure, and make the two complementary tube wall surfaces of the two sub-structures fit together; the middle symmetry plane of the four origami tube structures is located vertically flat and coplanar;

4)两个子结构在下,使两个子结构的三个顶点接触支撑面,放置该折纸主体,将此朝向规定为正放;在两个母结构下表面的三个尖端处分别粘贴一块硅胶泡沫,使一根形状记忆合金丝穿过下表面的三个硅胶泡沫并呈U形;在两个母结构上表面的山线和两个尖端处分别粘贴一块硅胶泡沫,使一根形状记忆合金丝穿过上表面的三个硅胶泡沫并呈W形。4) With the two sub-structures at the bottom, make the three vertices of the two sub-structures contact the support surface, place the origami main body, and set the orientation as positive; paste a piece of silicone foam on the three tips of the lower surfaces of the two parent structures, respectively, Make a shape memory alloy wire pass through the three silicone foams on the lower surface and form a U shape; paste a piece of silicone foam on the mountain line and two tips of the upper surface of the two mother structures respectively, and make a shape memory alloy wire pass through. Pass the three silicone foams on the top surface and make a W shape.

作为本发明的优选方案,所述子结构尺寸为母结构尺寸的0.6倍。As a preferred solution of the present invention, the size of the substructure is 0.6 times the size of the parent structure.

作为本发明的优选方案,所述形状记忆合金丝与折纸主体的固定点之间设置有硅胶泡沫,硅胶泡沫固定在折纸主体的固定点上形状记忆合金丝穿过硅胶泡沫进行固定。As a preferred solution of the present invention, silica gel foam is arranged between the shape memory alloy wire and the fixing point of the origami body, and the silica gel foam is fixed on the fixing point of the origami body. The shape memory alloy wire is fixed through the silica gel foam.

作为本发明的优选方案,母结构下表面的形状记忆合金丝的长度要满足在穿过下表面的全部硅胶泡沫后,头尾两端能在折纸主体正放于水平面上时触地。As a preferred solution of the present invention, the length of the shape memory alloy wire on the lower surface of the mother structure should be such that after passing through all the silicone foam on the lower surface, the head and tail ends can touch the ground when the origami body is placed on a horizontal plane.

作为本发明的优选方案,母结构上表面的形状记忆合金丝长度要满足在穿过上表面全部硅胶泡沫后,头尾两端的余量足够绕连接电源用的导线。As a preferred solution of the present invention, the length of the shape memory alloy wire on the upper surface of the mother structure should be sufficient to wrap around the wire for connecting the power supply after passing through all the silicone foam on the upper surface.

作为本发明的优选方案,两根形状记忆合金丝外接电源,且两根形状记忆合金丝交替接受电信号。As a preferred solution of the present invention, two shape memory alloy wires are connected to an external power supply, and the two shape memory alloy wires receive electrical signals alternately.

作为本发明的优选方案,两根形状记忆合金丝在无约束且通电状态下呈直线形。As a preferred solution of the present invention, the two shape memory alloy wires are linear in an unconstrained and electrified state.

作为本发明的优选方案,形状记忆合金丝的U形结构或W形结构关于折纸主体的中间对称面对称。As a preferred solution of the present invention, the U-shaped structure or the W-shaped structure of the shape memory alloy wire is symmetrical with respect to the median symmetry plane of the origami main body.

作为本发明的优选方案,所述的形状记忆合金丝为0.5mm单程的形状记忆合金丝,优选为SMA丝。As a preferred solution of the present invention, the shape memory alloy wire is a 0.5 mm single-pass shape memory alloy wire, preferably an SMA wire.

与现有技术相比,本发明的机器人由两对尺寸不同的Miura折纸管组成的子母折纸,具有显著的抗弯、抗扭能力,从而只能在折叠方向上发生明显的变形,因而有利于接受形状记忆合金丝的驱动,产生定向的变形。并且本发明对形状记忆合金丝U形的特殊布置方式可以有效地将形状记忆合金丝产生的力转化为使折纸结构折叠的力,从而完成折纸结构整体的驱动。子母折纸结构特殊的支撑方式也保证了机器人站立的平稳性,并提供有助于移动的各向异性摩擦机制。Compared with the prior art, the robot of the present invention is composed of two pairs of Miura origami tubes with different sizes, and has significant bending and torsion resistance, so that only obvious deformation can occur in the folding direction, so it has It is beneficial to accept the drive of the shape memory alloy wire to produce directional deformation. And the special U-shape arrangement of the shape memory alloy wire in the present invention can effectively convert the force generated by the shape memory alloy wire into the force for folding the origami structure, thereby completing the driving of the whole origami structure. The special support method of the mother-child origami structure also ensures the stability of the robot's standing and provides an anisotropic friction mechanism that facilitates movement.

附图说明Description of drawings

图1为本发明子母折纸主体的结构示意图(侧视视角);Fig. 1 is the structural schematic diagram of the main body of the mother-child origami of the present invention (side view);

图2为本发明基于子母折纸的形状记忆合金丝驱动软体机器人的结构示意图;2 is a schematic structural diagram of a shape memory alloy wire-driven soft robot based on child-mother origami of the present invention;

图3为本发明基于子母折纸的形状记忆合金丝驱动软体机器人的底部结构示意图;3 is a schematic diagram of the bottom structure of a shape memory alloy wire-driven soft robot based on child-mother origami of the present invention;

图4为本发明基于子母折纸的形状记忆合金丝驱动软体机器人压缩状态示意图;4 is a schematic diagram of a compressed state of a shape memory alloy wire-driven soft robot based on child-mother origami according to the present invention;

图5为本发明子、母结构制作示意图。FIG. 5 is a schematic diagram of the fabrication of the child and parent structures of the present invention.

图中,母结构1、子结构2、硅胶泡沫3、顶部SMA丝4、底部SMA丝5。In the figure, the mother structure 1, the substructure 2, the silicone foam 3, the top SMA wire 4, and the bottom SMA wire 5.

具体实施方式Detailed ways

下面将结合本发明实施例中的附图,对本发明实施例中的技术方案进行清楚、完整地描述,显然,所描述的实施例仅仅是本发明的一部分实施例,而不是全部的实施例。基于本发明中的实施例,本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例,都属于本发明保护的范围。The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

需要说明,本发明实施例中所有方向性指示(诸如上、下、左、右、前、后……)仅用于解释在某一特定姿态(如附图所示)下各部件之间的相对位置关系、运动情况等,如果该特定姿态发生改变时,则该方向性指示也相应地随之改变。It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relationship between various components under a certain posture (as shown in the accompanying drawings). The relative positional relationship, the movement situation, etc., if the specific posture changes, the directional indication also changes accordingly.

如图1-5所示,本实施例提供了一种基于子母折纸的形状记忆合金丝驱动软体机器人,其包括子母折纸主体和两根SMA丝,如图1所示,所述子母折纸主体由两个子结构2、两个母结构1组成。所述子结构2和母结构1均为折纸管结构,且所述折纸管结构是由两个完全相同的Miura折纸基本单元组成的管状结构(图5所示),折纸管结构关于中间四条折痕线组成的中间对称面左右对称,两侧管口呈菱形;所述子结构与母结构结构相同,子结构尺寸为母结构尺寸的 0.6倍。As shown in Figures 1-5, this embodiment provides a shape memory alloy wire-driven soft robot based on child-mother origami, which includes a child-mother origami main body and two SMA wires. As shown in Figure 1, the child-mother origami The origami main body is composed of two substructures 2 and two parent structures 1 . The substructure 2 and the parent structure 1 are both origami tube structures, and the origami tube structure is a tubular structure composed of two identical Miura origami basic units (as shown in Figure 5), and the origami tube structure is folded about the middle four. The middle plane of symmetry formed by the traces is left-right symmetrical, and the nozzles on both sides are rhombus-shaped; the substructure is the same as the parent structure, and the size of the substructure is 0.6 times that of the parent structure.

如图5所示,子、母结构可以采用如下方法制作:1)用激光雕刻机分别雕刻出已规划设计的组成子结构的4个Miura基本单元以及组成母结构的4个 Miura基本单元的折痕线,其折痕图如图5(a)所示,其中,组成子结构的 Miura基本单元尺寸是母结构的Miura基本单元的0.6倍;2)折叠折痕,使 Miura基本单元从二维结构变化为三维结构;3)将两相同的Miura基本单元镜像接合成一个管状结构,边缘向内折叠,以便于连接。As shown in Figure 5, the child and parent structures can be made by the following methods: 1) Use a laser engraving machine to engrave the folded folds of the planned and designed four Miura basic units that form the child structure and the four Miura basic units that form the parent structure. The crease line, the crease diagram of which is shown in Figure 5(a), in which the size of the Miura basic unit that composes the substructure is 0.6 times that of the Miura basic unit of the parent structure; 2) Fold the crease to make the Miura basic unit from the two-dimensional The structure is changed to a three-dimensional structure; 3) Two identical Miura basic units are mirror-joined into a tubular structure with the edges folded inward for easy connection.

如图1-5所示,在一个可选的实施例中,所述基于子母折纸的形状记忆合金丝驱动软体机器人采用如下方法制作:As shown in Figures 1-5, in an optional embodiment, the shape memory alloy wire-driven soft robot based on child-mother origami is manufactured by the following method:

1)两个母结构以相同的姿态排列,且使两个母结构各自的中间对称面、前后两侧的管壁面均处于竖直状态;将两个母结构紧靠,使两者互补的管壁面互相接触,且中间对称面共面;1) The two female structures are arranged in the same posture, and the respective middle symmetrical planes of the two female structures and the pipe wall surfaces on the front and rear sides are in a vertical state; The walls are in contact with each other, and the median plane of symmetry is coplanar;

2)上下颠倒其中一个母结构,仍使互补的管壁面接触且中间对称面共面;调整其中一个母结构的高度,使一个母结构两侧管口的右下角与另一个母结构两侧管口的左上角贴合,以此状态黏贴两个母结构使其相互固定;2) Turn one of the female structures upside down, so that the complementary pipe wall surfaces are in contact and the middle symmetry planes are coplanar; adjust the height of one of the female structures so that the lower right corner of the nozzles on both sides of one female structure is connected to the pipes on both sides of the other female structure. The upper left corner of the mouth is attached, and in this state, the two mother structures are pasted to make them fixed to each other;

3)在两个母结构的正下方以与母结构相同的姿态各自固定一个子结构,并使两个子结构互补的两个管壁面贴合固定;四个折纸管结构的中间对称面位于竖直平面且共面;3) Fix a sub-structure directly under the two parent structures with the same attitude as the parent structure, and make the two complementary tube wall surfaces of the two sub-structures fit together; the middle symmetry plane of the four origami tube structures is located vertically flat and coplanar;

4)两个子结构在下,使两个子结构的三个顶点接触支撑面,放置该折纸主体,将此朝向规定为正放(子母折纸结构特殊的支撑方式也保证了机器人站立的平稳性,并提供有助于移动的各向异性摩擦机制);在两个母结构下表面的三个尖端处分别粘贴一块硅胶泡沫3,使一根底部SMA丝5穿过下表面的三个硅胶泡沫并呈U形;在两个母结构上表面的山线和两个尖端处分别粘贴一块硅胶泡沫3,使一根顶部SMA丝4穿过上表面的三个硅胶泡沫并呈W形。4) The two sub-structures are at the bottom, so that the three vertices of the two sub-structures contact the supporting surface, place the origami main body, and set the orientation as positive (the special support method of the sub-mother origami structure also ensures the stability of the robot standing, and Provide anisotropic friction mechanism that facilitates movement); paste a piece of silicone foam 3 at the three tips of the lower surface of the two mother structures respectively, so that a bottom SMA wire 5 passes through the three silicone foams on the lower surface and presents U shape; paste a piece of silicone foam 3 on the mountain line and the two tips on the upper surface of the two mother structures, so that a top SMA wire 4 passes through the three silicone foams on the upper surface and forms a W shape.

温控形状记忆合金丝在加热时会产生相变以及变形,从而对其上的约束部分产生力。如图2与3,本发明完成了由形状记忆合金丝构成的柔顺的双程执行器,图4为本发明基于子母折纸的形状记忆合金丝驱动软体机器人压缩状态示意图。在由可编程电源产生的周期性电信号的加热下,一对形状记忆合金丝分别产生相应的热信号,折纸结构因此具备折叠-展开的周期性行为,而并不会因为形状记忆合金丝的力产生不希望的形式的形变。而机器人爬行时,其装配的形状记忆合金丝与地面接触部分刚度的变化可以创造各向异性摩擦机制,在这种摩擦机制的帮助下机器人将产生定向的运动。本发明将机器人放置于光滑、平整的地面并施加电信号,机器人以周期性的行为爬行。The temperature-controlled shape memory alloy wire undergoes a phase transformation and deformation when heated, thereby generating a force on the restrained portion on it. As shown in Figures 2 and 3, the present invention has completed a flexible two-way actuator composed of shape memory alloy wires. Figure 4 is a schematic diagram of the compressed state of the shape memory alloy wire driven soft robot based on child-mother origami of the present invention. Under the heating of the periodic electrical signal generated by the programmable power supply, a pair of shape memory alloy wires generate corresponding heat signals respectively, so the origami structure has the periodic behavior of folding and unfolding, and it is not affected by the shape memory alloy wire. The force produces an undesired form of deformation. When the robot crawls, the change of the stiffness of the assembled shape memory alloy wire in contact with the ground can create an anisotropic friction mechanism, with the help of this friction mechanism, the robot will produce directional motion. The invention places the robot on a smooth and flat ground and applies electrical signals, and the robot crawls with periodic behavior.

本发明将两根SMA丝分别与两电源相连,每根SMA丝的头尾两端与同一个电源的正负极相连。打开母结构下表面的底部SMA丝5所连电源,则该 SMA丝通电变直,由于折纸结构底面的摩擦力各向异性,机器人头部得以向前而尾部不动;关闭该电源,打开母结构上表面的顶部SMA丝4所连电源,则该 SMA丝通电变直,由于折纸结构底面的摩擦力各向异性,机器人尾部得以向前而头部不动,交替并周期性的使底部SMA丝5和顶部SMA丝4通电,从而机器人得以向前运动。In the present invention, two SMA wires are respectively connected with two power sources, and the head and tail ends of each SMA wire are connected with the positive and negative electrodes of the same power source. Turn on the power supply connected to the bottom SMA wire 5 on the lower surface of the mother structure, then the SMA wire will be energized and straightened. Due to the anisotropy of frictional force on the bottom surface of the origami structure, the head of the robot can move forward and the tail of the robot will not move; The top SMA wire 4 on the upper surface of the structure is connected to the power supply, then the SMA wire is energized and straightened. Due to the anisotropy of frictional force on the bottom surface of the origami structure, the tail of the robot can move forward while the head does not move, alternately and periodically make the bottom SMA wire Wire 5 and top SMA wire 4 are energized so that the robot can move forward.

如图1所示,本实施例展现了一种结构简单但具有功能性力学性能的折纸结构——子母折纸,它具有特殊的力学性能如强抗弯能力、抗扭转能力以及稳定的站立能力;子母折纸的力学性能不仅能为机器人服务,也具有更广泛的应用。As shown in Fig. 1, this embodiment shows an origami structure with simple structure but functional mechanical properties-child-mother origami, which has special mechanical properties such as strong bending resistance, torsion resistance and stable standing ability ; The mechanical properties of the mother-child origami can not only serve the robot, but also have a wider range of applications.

本发明通过合理设计折纸结构,将能够简单地引导柔顺的执行机构(如形状记忆合金丝)对结构产生定向的力,完成指定的驱动行为。通过实验,本发明已经证明了这种方法能够应用于软体机器人物理结构与执行机构的设计,并实现具有自主移动能力的软体机器人。该成果拓展了软体机器人结构设计方法,为基于折纸的软体机器人的设计提供了一种新的思路。By rationally designing the origami structure, the present invention can simply guide a compliant actuator (such as a shape memory alloy wire) to generate a directional force on the structure to complete a specified driving behavior. Through experiments, the present invention has proved that this method can be applied to the design of the physical structure and the actuator of the soft robot, and realizes the soft robot with the ability to move autonomously. This achievement expands the structural design method of soft robots and provides a new idea for the design of origami-based soft robots.

Claims (9)

1.一种基于子母折纸的形状记忆合金丝驱动软体机器人,其特征在于,包括子母折纸主体和两根形状记忆合金丝,所述子母折纸主体由两个子结构、两个母结构组成。所述子结构和母结构均为折纸管结构,且所述折纸管结构是由两个完全相同的Miura折纸基本单元组成的管状结构,折纸管结构关于中间四条折痕线组成的中间对称面左右对称,两侧管口呈菱形;所述子结构与母结构结构相同,子结构尺寸为母结构尺寸的0.5-0.7倍;1. A shape memory alloy wire-driven soft robot based on child-mother origami, is characterized in that, comprises child-mother origami main body and two shape memory alloy wires, and described child-mother origami main body is made up of two substructures, two mother structures . Both the sub-structure and the parent structure are origami tube structures, and the origami tube structure is a tubular structure composed of two identical Miura origami basic units, and the origami tube structure is about the middle symmetry plane formed by the four middle crease lines. Symmetrical, the nozzles on both sides are diamond-shaped; the substructure is the same as the parent structure, and the size of the substructure is 0.5-0.7 times the size of the parent structure; 所述基于子母折纸的形状记忆合金丝驱动软体机器人采用如下方法制作:The shape memory alloy wire-driven soft robot based on child-mother origami is produced by the following method: 1)两个母结构以相同的姿态排列,且使两个母结构各自的中间对称面、前后两侧的管壁面均处于竖直状态;将两个母结构紧靠,使两者互补的管壁面互相接触,且中间对称面共面;1) The two female structures are arranged in the same posture, and the respective middle symmetrical planes of the two female structures and the pipe wall surfaces on the front and rear sides are in a vertical state; The walls are in contact with each other, and the median plane of symmetry is coplanar; 2)上下颠倒其中一个母结构,仍使互补的管壁面接触且中间对称面共面;调整其中一个母结构的高度,使一个母结构两侧管口的右下角与另一个母结构两侧管口的左上角贴合,以此状态黏贴两个母结构使其相互固定;2) Turn one of the female structures upside down, so that the complementary pipe wall surfaces are in contact and the middle symmetry planes are coplanar; adjust the height of one of the female structures so that the lower right corner of the nozzles on both sides of one female structure is connected to the pipes on both sides of the other female structure. The upper left corner of the mouth is attached, and in this state, the two mother structures are pasted to make them fixed to each other; 3)在两个母结构的正下方以与母结构相同的姿态各自固定一个子结构,并使两个子结构互补的两个管壁面贴合固定;四个折纸管结构的中间对称面位于竖直平面且共面;3) Fix a sub-structure directly under the two parent structures with the same attitude as the parent structure, and make the two complementary tube wall surfaces of the two sub-structures fit together; the middle symmetry plane of the four origami tube structures is located vertically flat and coplanar; 4)两个子结构在下,使两个子结构的三个顶点接触支撑面,放置该折纸主体,将此朝向规定为正放;在两个母结构下表面的三个尖端处分别粘贴一块硅胶泡沫,使一根形状记忆合金丝穿过下表面的三个硅胶泡沫并呈U形;在两个母结构上表面的山线和两个尖端处分别粘贴一块硅胶泡沫,使一根形状记忆合金丝穿过上表面的三个硅胶泡沫并呈W形。4) With the two sub-structures at the bottom, make the three vertices of the two sub-structures contact the support surface, place the origami main body, and set the orientation as positive; paste a piece of silicone foam on the three tips of the lower surfaces of the two parent structures, respectively, Make a shape memory alloy wire pass through the three silicone foams on the lower surface and form a U shape; paste a piece of silicone foam on the mountain line and two tips of the upper surface of the two mother structures respectively, and make a shape memory alloy wire pass through. Pass the three silicone foams on the top surface and make a W shape. 2.根据权利要求1所述的基于子母折纸的形状记忆合金丝驱动软体机器人,其特征在于所述子结构尺寸为母结构尺寸的0.6倍。2 . The shape memory alloy wire-driven soft robot based on child-parent origami according to claim 1 , wherein the size of the child structure is 0.6 times that of the parent structure. 3 . 3.根据权利要求1所述的基于子母折纸的形状记忆合金丝驱动软体机器人,其特征在于所述形状记忆合金丝与折纸主体的固定点之间设置有硅胶泡沫,硅胶泡沫固定在折纸主体的固定点上形状记忆合金丝穿过硅胶泡沫进行固定。3 . The shape memory alloy wire-driven soft robot based on child-mother origami according to claim 1 , wherein a silicone foam is arranged between the shape memory alloy wire and the fixing point of the origami body, and the silicone foam is fixed on the origami body. 4 . The shape memory alloy wire is fixed through the silicone foam on the fixing point. 4.根据权利要求3所述的基于子母折纸的形状记忆合金丝驱动软体机器人,其特征在于,母结构下表面的形状记忆合金丝的长度要满足在穿过下表面的全部硅胶泡沫后,头尾两端能在折纸主体正放于水平面上时触地。4. The shape memory alloy wire-driven soft robot based on child-mother origami according to claim 3, characterized in that, the length of the shape memory alloy wire on the lower surface of the mother structure should be sufficient after passing through all the silicone foams on the lower surface, The head and tail ends can touch the ground when the origami body is placed on a horizontal surface. 5.根据权利要求3所述的基于子母折纸的形状记忆合金丝驱动软体机器人,其特征在于,母结构上表面的形状记忆合金丝长度要满足在穿过上表面全部硅胶泡沫后,头尾两端的余量足够绕连接电源用的导线。5 . The shape memory alloy wire-driven soft robot based on child-mother origami according to claim 3 , wherein the length of the shape memory alloy wire on the upper surface of the mother structure should satisfy the length of the head and tail after passing through all the silicone foams on the upper surface. 6 . The margins at both ends are sufficient to wrap the wires used to connect the power supply. 6.根据权利要求1所述的基于子母折纸的形状记忆合金丝驱动软体机器人,其特征在于,两根形状记忆合金丝外接电源,且两根形状记忆合金丝交替接受电信号。6 . The shape memory alloy wire-driven soft robot based on child-mother origami according to claim 1 , wherein the two shape memory alloy wires are connected to an external power supply, and the two shape memory alloy wires receive electrical signals alternately. 7 . 7.根据权利要求1所述的基于子母折纸的形状记忆合金丝驱动软体机器人,其特征在于,两根形状记忆合金丝在无约束且通电状态下呈直线形。7 . The shape memory alloy wire-driven soft robot based on child-mother origami according to claim 1 , wherein the two shape memory alloy wires are linear in an unconstrained and energized state. 8 . 8.根据权利要求1所述的基于子母折纸的形状记忆合金丝驱动软体机器人,其特征在于,形状记忆合金丝的U形结构或W形结构关于折纸主体的中间对称面对称。8 . The shape memory alloy wire-driven soft robot based on parent-child origami according to claim 1 , wherein the U-shaped structure or the W-shaped structure of the shape memory alloy wire is symmetrical with respect to the median symmetry plane of the origami main body. 9 . 9.根据权利要求1所述的基于子母折纸的形状记忆合金丝驱动软体机器人,其特征在于,所述的形状记忆合金丝为SMA丝。9 . The shape memory alloy wire-driven soft robot based on child-mother origami according to claim 1 , wherein the shape memory alloy wire is an SMA wire. 10 .
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