CN114589685A - Shape memory alloy wire driving soft robot based on primary and secondary paper folding - Google Patents
Shape memory alloy wire driving soft robot based on primary and secondary paper folding Download PDFInfo
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/1085—Programme-controlled manipulators characterised by positioning means for manipulator elements positioning by means of shape-memory materials
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Abstract
The invention discloses a shape memory alloy wire driving soft robot based on primary and secondary paper folding, which comprises a primary and secondary paper folding main body and two SMA wires, wherein the primary and secondary paper folding main body consists of two primary structures and two secondary structures. The paper folding structure is a tubular structure consisting of two identical Miura paper folding basic units, the paper folding structure is bilaterally symmetrical about a middle symmetrical plane consisting of four middle crease lines, and pipe orifices on two sides are in a rhombus shape; the structure of the sub-structure is the same as that of the mother structure, and the size of the sub-structure is smaller than that of the mother structure. The two SMA wires are respectively positioned on the upper surface and the lower surface of the primary and secondary paper folding main bodies and are restrained to be U-shaped. The two SMA wires can make the robot move forward in one direction under the alternate electrification. The primary-secondary folding paper has remarkable bending resistance and torsion resistance, ensures the standing stability of the robot, and provides an anisotropic friction mechanism which is beneficial to movement.
Description
Technical Field
The invention belongs to the field of software robot design, and particularly relates to a shape memory alloy wire driven software robot based on primary and secondary folded paper.
Background
Rigid robots are not suitable for storage, transportation or work in a narrow space due to their heavy and stiff frames, and therefore, how to design a lightweight and flexible soft robot is one of the important research subjects in the scientific and engineering fields.
In recent decades, researchers have proposed a new structure, called origami. The term ori is used to describe an ancient folding art, the root of ori denoting folding and-gami denoting paper. The basic theory behind paper folding is to transform a sheet of paper from two-dimensional to three-dimensional geometric tessellation, and the study and application of this concept has been beyond purely aesthetic purposes in recent decades. In a rigid origami pattern, the surface enclosed by the crease lines is not allowed to stretch or bend during folding. The rigid fold, planar fold and developable nature make the rigid origami structure a wide range of potential applications, as a basic rigid origami pattern, the Miura origami has geometric simplicity and excellent mechanical properties and can uniquely describe its motion from a kinematic point of view, and this novel structure has attracted the attention of researchers and has been studied on many different aspects of this structure.
Due to the foldability and special mechanical properties of the paper folding structure, the paper folding structure can be used as a good carrier of light and flexible driving materials such as shape memory alloy wires and the like to form a soft robot with the moving capability.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides a shape memory alloy wire driving soft robot based on primary and secondary folded paper.
The invention provides a shape memory alloy wire driving soft robot based on primary and secondary paper folding, which is characterized by comprising a primary and secondary paper folding main body and two shape memory alloy wires, wherein the primary and secondary paper folding main body consists of two primary structures and two secondary structures. The paper folding structure is a tubular structure consisting of two identical Miura paper folding basic units, the paper folding structure is bilaterally symmetrical about a middle symmetrical plane consisting of four middle crease lines, and pipe orifices on two sides are in a rhombus shape; the structure of the substructure is the same as that of the mother structure, and the size of the substructure is 0.5-0.7 times that of the mother structure;
the shape memory alloy wire driving soft robot based on the child-mother folded paper is manufactured by adopting the following method:
1) the two mother structures are arranged in the same posture, and the middle symmetrical plane and the pipe wall surfaces of the front side and the rear side of each of the two mother structures are in a vertical state; the two mother structures are abutted, so that the complementary pipe wall surfaces of the two mother structures are mutually contacted, and the middle symmetrical surfaces are coplanar;
2) one of the mother structures is inverted up and down, the complementary pipe wall surfaces are still contacted, and the middle symmetrical surfaces are coplanar; adjusting the height of one of the female structures to ensure that the lower right corners of the pipe orifices on two sides of one female structure are attached to the upper left corners of the pipe orifices on two sides of the other female structure, and attaching the two female structures in this state to fix the two female structures;
3) respectively fixing a substructure under the two mother structures in the same posture as the mother structures, and attaching and fixing the two pipe wall surfaces of which the two substructure are complementary; the middle symmetrical planes of the four paper folding tube structures are positioned on a vertical plane and are coplanar;
4) the two substructures are arranged below, three vertexes of the two substructures are in contact with the supporting surface, the paper folding main body is placed, and the orientation is defined as positive placement; respectively sticking a piece of silica gel foam at the three tip ends of the lower surfaces of the two female structures, so that a shape memory alloy wire penetrates through the three silica gel foams of the lower surfaces and is U-shaped; and respectively sticking a piece of silica gel foam on the mountain line and the two tip ends of the upper surfaces of the two mother structures, so that a shape memory alloy wire penetrates through the three silica gel foams on the upper surfaces and is W-shaped.
In a preferred embodiment of the present invention, the substructure size is 0.6 times the size of the parent structure.
As a preferable scheme of the invention, silica gel foam is arranged between the shape memory alloy wire and the fixing point of the paper folding main body, and the shape memory alloy wire fixed on the fixing point of the paper folding main body by the silica gel foam penetrates through the silica gel foam for fixing.
As a preferable scheme of the invention, the length of the shape memory alloy wire on the lower surface of the female structure is such that after all the silica gel foam passing through the lower surface, the head end and the tail end can touch the ground when the paper folding main body is placed on a horizontal plane.
As a preferable scheme of the invention, the length of the shape memory alloy wire on the upper surface of the female structure is required to be enough to wind a lead wire for connecting a power supply after the shape memory alloy wire penetrates through all the silica gel foams on the upper surface.
As a preferred scheme of the invention, the two shape memory alloy wires are externally connected with a power supply, and the two shape memory alloy wires receive electric signals alternately.
In a preferred embodiment of the present invention, the two shape memory alloy wires are linear in an unconstrained and energized state.
As a preferable scheme of the invention, the U-shaped structure or the W-shaped structure of the shape memory alloy wire is symmetrical about the middle symmetrical plane of the paper folding main body.
In a preferred embodiment of the present invention, the shape memory alloy wire is a 0.5mm single-pass shape memory alloy wire, preferably an SMA wire.
Compared with the prior art, the robot has the advantages that the primary and secondary folded paper formed by the two pairs of Miura folded paper tubes with different sizes has remarkable bending resistance and torsion resistance, so that the robot can only obviously deform in the folding direction, and is favorable for receiving the drive of the shape memory alloy wires to generate directional deformation. And the U-shaped special arrangement mode of the shape memory alloy wires can effectively convert the force generated by the shape memory alloy wires into the force for folding the paper folding structure, thereby completing the integral driving of the paper folding structure. The special supporting mode of the primary-secondary paper folding structure also ensures the standing stability of the robot and provides an anisotropic friction mechanism which is beneficial to movement.
Drawings
FIG. 1 is a schematic structural view (side view) of the main body of the child-mother origami paper of the present invention;
FIG. 2 is a schematic structural diagram of a shape memory alloy wire-driven soft robot based on a master-slave paper folder according to the present invention;
FIG. 3 is a schematic bottom structure view of a shape memory alloy wire-driven soft robot based on a snap-folded paper according to the present invention;
FIG. 4 is a schematic view of the compressed state of the shape memory alloy wire-driven soft robot based on the snap-folded paper according to the present invention;
FIG. 5 is a schematic diagram of the fabrication of the mother-son structure of the present invention.
In the figure, a mother structure 1, a child structure 2, a silica gel foam 3, a top SMA wire 4 and a bottom SMA wire 5.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that all the directional indicators (such as up, down, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.
As shown in fig. 1-5, the present embodiment provides a shape memory alloy wire-driven soft robot based on a child-mother origami, which includes a child-mother origami main body and two SMA wires, as shown in fig. 1, where the child-mother origami main body is composed of two child structures 2 and two mother structures 1. The substructure 2 and the mother structure 1 are both paper folding tube structures, and the paper folding tube structures are tubular structures (shown in fig. 5) composed of two identical Miura paper folding basic units, the paper folding tube structures are bilaterally symmetrical about a middle symmetrical plane composed of four middle crease lines, and tube orifices on two sides are in rhombus shapes; the substructure is the same as the parent structure, and the size of the substructure is 0.6 times of that of the parent structure.
As shown in fig. 5, the child and mother structures can be manufactured by the following method: 1) respectively engraving crease lines of 4 Miura basic units forming the sub-structure and 4 Miura basic units forming the main structure which are planned and designed by using a laser engraving machine, wherein the crease lines are as shown in a figure 5(a), wherein the Miura basic units forming the sub-structure are 0.6 times of the Miura basic units of the main structure in size; 2) folding the crease to change the Miura basic unit from a two-dimensional structure to a three-dimensional structure; 3) two identical Miura base units are mirror-joined into a tubular configuration with the edges folded inward to facilitate connection.
In an alternative embodiment, as shown in fig. 1-5, the shape memory alloy wire-driven soft robot based on the snap-folded paper is manufactured by the following method:
1) the two mother structures are arranged in the same posture, and the middle symmetrical plane and the pipe wall surfaces at the front side and the rear side of each of the two mother structures are in a vertical state; the two mother structures are abutted, so that the complementary pipe wall surfaces of the two mother structures are mutually contacted, and the middle symmetrical surfaces are coplanar;
2) one of the mother structures is inverted up and down, the complementary pipe wall surfaces are still contacted, and the middle symmetrical surfaces are coplanar; adjusting the height of one of the female structures to ensure that the lower right corners of the pipe orifices on two sides of one female structure are attached to the upper left corners of the pipe orifices on two sides of the other female structure, and attaching the two female structures in this state to fix the two female structures;
3) respectively fixing a substructure under the two mother structures in the same posture as the mother structures, and attaching and fixing the two pipe wall surfaces of which the two substructure are complementary; the middle symmetrical planes of the four paper folding tube structures are positioned on a vertical plane and are coplanar;
4) the two substructures are arranged below the base, three vertexes of the two substructures are in contact with the supporting surface, the main paper folding body is placed, and the orientation is defined as being placed right (the special supporting mode of the child-mother paper folding structure also ensures the standing stability of the robot and provides an anisotropic friction mechanism which is beneficial to movement); respectively sticking a piece of silica gel foam 3 at three tip ends of the lower surfaces of the two mother structures, and enabling a piece of bottom SMA wire 5 to penetrate through the three silica gel foams of the lower surfaces and be in a U shape; and respectively sticking a piece of silica gel foam 3 on the mountain line and two tip ends of the upper surfaces of the two mother structures, and enabling a top SMA wire 4 to penetrate through the three silica gel foams on the upper surfaces and be in a W shape.
The temperature controlled shape memory alloy wire undergoes a phase change and deformation when heated, thereby exerting a force on the constrained portion thereof. Referring to fig. 2 and 3, the present invention completes a soft and flexible two-way actuator composed of shape memory alloy wires, and fig. 4 is a schematic view of the compressed state of the shape memory alloy wire-driven soft robot based on the child-mother paper folding of the present invention. Under the heating of the periodic electric signal generated by the programmable power supply, the pair of shape memory alloy wires respectively generate corresponding heat signals, and the paper folding structure has folding-unfolding periodic behavior without generating undesirable deformation due to the force of the shape memory alloy wires. When the robot crawls, the rigidity of the contact part of the assembled shape memory alloy wires and the ground can be changed to create an anisotropic friction mechanism, and the robot generates directional motion with the help of the anisotropic friction mechanism. The robot is placed on a smooth and flat ground and an electric signal is applied, so that the robot crawls in a periodic behavior.
The two SMA wires are respectively connected with two power supplies, and the head end and the tail end of each SMA wire are connected with the positive electrode and the negative electrode of the same power supply. The power supply connected with the SMA wire 5 at the bottom of the lower surface of the female structure is turned on, the SMA wire is electrified and straightened, and the head part of the robot can move forwards while the tail part of the robot can not move due to the anisotropic friction force of the bottom surface of the paper folding structure; and turning off the power supply, and turning on the power supply connected with the top SMA wire 4 on the upper surface of the female structure, so that the SMA wires are electrified and straightened, the tail part of the robot is enabled to move forwards while the head part of the robot is not enabled to move due to the anisotropic friction force of the bottom surface of the paper folding structure, and the bottom SMA wire 5 and the top SMA wire 4 are alternately and periodically electrified, so that the robot is enabled to move forwards.
As shown in fig. 1, this embodiment shows a simple structure but with functional mechanical properties, i.e. a primary-secondary origami, which has special mechanical properties such as strong bending resistance, torsion resistance and stable standing ability; the mechanical property of the primary-secondary origami can serve for the robot and has wider application.
The invention can simply guide a flexible actuating mechanism (such as a shape memory alloy wire) to generate directional force on the structure by reasonably designing the paper folding structure, thereby completing the specified driving action. Through experiments, the invention proves that the method can be applied to the design of the physical structure and the execution mechanism of the soft robot and realizes the soft robot with the autonomous movement capability. The achievement expands the structural design method of the soft robot and provides a new idea for the design of the soft robot based on the folded paper.
Claims (9)
1. A shape memory alloy wire driving soft robot based on primary and secondary paper folding is characterized by comprising a primary and secondary paper folding main body and two shape memory alloy wires, wherein the primary and secondary paper folding main body comprises two primary structures and two secondary structures. The paper folding structure is a tubular structure consisting of two identical Miura paper folding basic units, the paper folding structure is bilaterally symmetrical about a middle symmetrical plane consisting of four middle crease lines, and pipe orifices on two sides are in a rhombus shape; the structure of the substructure is the same as that of the mother structure, and the size of the substructure is 0.5-0.7 times that of the mother structure;
the shape memory alloy wire driving soft robot based on the child-mother folded paper is manufactured by adopting the following method:
1) the two mother structures are arranged in the same posture, and the middle symmetrical plane and the pipe wall surfaces at the front side and the rear side of each of the two mother structures are in a vertical state; the two mother structures are tightly abutted, so that the complementary pipe wall surfaces of the two mother structures are mutually contacted, and the middle symmetrical surfaces are coplanar;
2) one of the mother structures is inverted up and down, so that the complementary tube wall surfaces are still in contact, and the middle symmetrical surfaces are coplanar; adjusting the height of one of the female structures to ensure that the lower right corners of the pipe orifices on two sides of one female structure are attached to the upper left corners of the pipe orifices on two sides of the other female structure, and attaching the two female structures in this state to fix the two female structures;
3) respectively fixing a substructure under the two mother structures in the same posture as the mother structures, and attaching and fixing the two pipe wall surfaces of which the two substructure are complementary; the middle symmetrical planes of the four paper folding tube structures are positioned on a vertical plane and are coplanar;
4) the two substructures are arranged below, three vertexes of the two substructures are in contact with the supporting surface, the paper folding main body is placed, and the orientation is defined as positive placement; respectively sticking a piece of silica gel foam at three tip ends of the lower surfaces of the two mother structures, and enabling a shape memory alloy wire to penetrate through the three silica gel foams of the lower surfaces and be in a U shape; and respectively sticking a piece of silica gel foam on the mountain line and the two tip ends of the upper surfaces of the two mother structures, so that a shape memory alloy wire penetrates through the three silica gel foams on the upper surfaces and is W-shaped.
2. The master-slave origami-based shape memory alloy wire-driven soft body robot according to claim 1, wherein the child structure size is 0.6 times the parent structure size.
3. The shape memory alloy wire driving soft robot based on the snap-folding paper as claimed in claim 1, wherein a silica gel foam is arranged between the shape memory alloy wire and the fixing point of the paper folding main body, and the shape memory alloy wire fixed on the fixing point of the paper folding main body passes through the silica gel foam for fixing.
4. The master-slave origami-based shape memory alloy wire-driven soft robot according to claim 3, wherein the length of the shape memory alloy wire on the lower surface of the master structure is such that the head and the tail of the shape memory alloy wire can touch the ground when the origami main body is placed on a horizontal plane after penetrating all the silica gel foam on the lower surface.
5. The master-slave origami-based shape memory alloy wire-driven soft robot of claim 3, wherein the length of the shape memory alloy wire on the upper surface of the master structure is such that the remaining amount of the head and the tail of the shape memory alloy wire is enough to wind a wire for connecting a power supply after the shape memory alloy wire penetrates all the silica gel foams on the upper surface.
6. The master-slave origami-based shape memory alloy wire-driven soft robot according to claim 1, wherein two shape memory alloy wires are externally connected with a power supply, and the two shape memory alloy wires alternately receive an electric signal.
7. The master-slave origami-based shape memory alloy wire-driven soft robot according to claim 1, wherein the two shape memory alloy wires are linear in an unconstrained and energized state.
8. The child-fold paper based shape memory alloy wire driven soft robot according to claim 1, wherein the U-shaped structure or W-shaped structure of the shape memory alloy wire is symmetrical about the middle plane of symmetry of the paper folding main body.
9. The shape memory alloy wire-driven soft robot based on the snap-folded paper according to claim 1, wherein the shape memory alloy wire is an SMA wire.
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| CN202210160926.1A CN114589685B (en) | 2022-02-22 | 2022-02-22 | Shape memory alloy wire driving soft robot based on primary and secondary paper folding |
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2022
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