仿生六足折纸机器人结构设计与运动分析

曹东兴,贾艳超,郭翔鹰,毛佳佳

Structure design and motion analysis of bionic hexapod origami robot

Dongxing CAO,Yanchao JIA,Xiangying GUO,Jiajia MAO

图 10 不同六折痕折纸折痕设计夹角下，折痕

$ {O'_2}{A_2} $

、

$ {O'_2}{D_2} $

的夹角

$ \varphi_{2} $

随二面角

$ \eta_{2} $

和

$ \eta_{3} $

的变化

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