Structure design and motion analysis of bionic hexapod origami robot

doi:10.3785/j.issn.1008-973X.2024.08.002

Journal of ZheJiang University (Engineering Science)

2024, Vol. 58

Issue (8): 1543-1555 DOI: 10.3785/j.issn.1008-973X.2024.08.002

Structure design and motion analysis of bionic hexapod origami robot

Dongxing CAO1,2(

),Yanchao JIA2,3,Xiangying GUO1,2,Jiajia MAO1,2

1. School of Mathematics Statistics and Mechanic, Beijing University of Technology, Beijing 100124, China
2. Beijing Key Laboratory of Nonlinear Vibrations and Strength of Mechanical Structures, Beijing University of Technology, Beijing 100124, China
3. School of Mechanical and Energy Engineering, Beijing University of Technology, Beijing 100124, China

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Abstract

A new design scheme of crab-like hexapod origami robot was proposed by combining the origami structure with the multi-legged robot design and coupling Miura origami and six-fold origami aiming at the problems that the existing origami robots have a single structure and insufficient flexibility in movement. The motion configuration of the origami robot was expanded, and the motion flexibility of the origami robot was improved. Each leg of the robot has two degrees of freedom under the symmetry hypothesis. The vertices of the robot legs were treated as joints, and the crease lines were regarded as links. A planar link equivalent model of the robot legs was established with the folding angle as the motion variable. The theoretical range of motion for the robot’s foot was determined through simulation calculations. Then tapered panel technique was utilized to thicken the folding surfaces and prevent physical interference between adjacent folding surfaces. A three-dimensional model of the origami crab-like hexapod robot was constructed. The relationship between the folding angle and foot motion was analyzed based on the equivalent model of planar links, and the foot motion trajectory and gait of the robot were designed. The experimental prototype of origami bionic hexapod robot was designed and manufactured by using 3D printing technology, and the lateral movement of the robot was realized based on STM32 microcontroller control. Results show that the origami bio-inspired robot can realize the conversion from plane configuration to a crab-like configuration. The robot can move smoothly left and right under the coordinated movement of six legs.

Key words： hexapod robot bionics six-fold origami Miura origami kinematics analysis

Received: 01 April 2024 Published: 23 July 2024

CLC:

TP 242

Fund: 国家自然科学基金资助项目（U2241264，11972051）.

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Cite this article:

Dongxing CAO,Yanchao JIA,Xiangying GUO,Jiajia MAO. Structure design and motion analysis of bionic hexapod origami robot. Journal of ZheJiang University (Engineering Science), 2024, 58(8): 1543-1555.

URL:

https://www.zjujournals.com/eng/10.3785/j.issn.1008-973X.2024.08.002 OR https://www.zjujournals.com/eng/Y2024/V58/I8/1543

仿生六足折纸机器人结构设计与运动分析

针对现有折纸机器人组成结构单一，运动不够灵活的问题，将折纸结构与多足机器人设计相结合，耦合三浦折纸和六折痕折纸，提出新型的仿螃蟹六足折纸机器人设计方案，扩展了折纸机器人的运动构型，提升了折纸机器人的运动灵活性. 在面对称假设下，该机器人单足具有2个自由度，此时将机器人腿部顶点等效为关节，轴线折痕等效为连杆，建立机器人腿部的平面连杆等效模型，并以折面夹角为运动变量，通过仿真计算得出机器人足端的理论运动范围. 利用楔形面板技术对折面增厚并避免相邻折面发生物理干涉，建模得到折纸仿螃蟹六足机器人的三维模型. 基于平面连杆的等效模型，分析折面夹角与足端运动之间的联系，设计确定机器人的足端运动轨迹与运动步态. 利用3D打印技术设计并制作折纸仿生六足机器人试验样机，基于STM32单片机控制实现了机器人三横向角步态运动. 结果表明，该折纸仿生机器人可以实现平面构型到仿螃蟹构型的转换，在6条腿的协同运动下，机器人可以平稳地左右横向移动.

关键词： 六足机器人, 仿生, 六折痕折纸, 三浦折纸, 运动分析

Fig.1 Crease pattern and folding configuration of hexapod origami robot

Fig.2 Miura origami

Fig.3 Six-fold origami

Fig.4 Bipedal folding of origami robot

Fig.5 Equivalent kinematics model of each vertex

Fig.6 Kinematic model of single leg

Fig.7 Miura-ori and crease equivalent connecting rod

Fig.8 Variation of angles between creases

$ {O'_1}{A_1} $

and

$ {O'_1}{E_1} $

with change in dihedral angle

$ {\eta _1} $

under different angle of Miura origami crease design

Fig.9 Six-fold origami and crease equivalent connecting rod

Fig.10 Variation of angles between creases

$ {O'_2}{A_2} $

and

$ {O'_2}{D_2} $

with change in dihedral angles

$ \eta_{2} $

and

$ \eta_{3} $

under different angle of six-fold origami crease design

Fig.11 Spatial configuration of pair of origami legs and equivalent connecting rod with single leg crease

Fig.12 Range of foot motion of origami robot

Fig.13 Tapered panel technique

Fig.14 Pair of origami leg slabs

Fig.15 Three-dimensional model of six-legged origami robot

Fig.16 Connecting and driving parts

Fig.17 Actual foot motion range of origami robot

Fig.18 Corresponding foot trajectory as dihedral angle

$ {\eta '_2} $

varies at different rate with respect to dihedral angle

$ {\eta '_1} $

Fig.19 Change of angle of folding surface of origami leg and trajectory of foot end in single period

Fig.20 Trajectory of foot after reducing robot’s step length

Fig.21 Trajectory of foot after increasing robot’s leg lifting height

Fig.22 Simplified model of hexapod robot

Fig.23 Lateral triangle gait of hexapod robot

Fig.24 Simulation of lateral triangular gait of hexapod robot

Fig.25 Body moves vertically relative to ground during walking

Fig.26 Prototype of six-legged origami robot

Tab.1 Design parameter of hexapod origami robot

Fig.27 Foot-end trajectory under different control signal

Fig.28 Lateral movement of robot


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