Origami Wheel Transformer: A Variable-Diameter Wheel Drive Robot Using an Origami Structure

被引:130
|
作者
Lee, Dae-Young [1 ,2 ]
Kim, Sa-Reum [1 ,2 ]
Kim, Ji-Suk [3 ]
Park, Jae-Jun [1 ]
Cho, Kyu-Jin [1 ,2 ]
机构
[1] Seoul Natl Univ, Dept Mech & Aerosp Engn, Seoul 151742, South Korea
[2] Seoul Natl Univ, Inst Adv Machines & Design, Seoul, South Korea
[3] Agcy Def Dev, Daejeon, South Korea
基金
新加坡国家研究基金会;
关键词
origami; deformable wheel; transformable wheel; origami-inspired mechanism; soft origami; origami wheel;
D O I
10.1089/soro.2016.0038
中图分类号
TP24 [机器人技术];
学科分类号
080202 ; 1405 ;
摘要
A wheel drive mechanism is simple, stable, and efficient, but its mobility in unstructured terrain is seriously limited. Using a deformable wheel is one of the ways to increase the mobility of a wheel drive robot. By changing the radius of its wheels, the robot becomes able to pass over not only high steps but also narrow gaps. In this article, we propose a novel design for a variable-diameter wheel using an origami-based soft robotics design approach. By simply folding a patterned sheet into a wheel shape, a variable-diameter wheel was built without requiring lots of mechanical parts and a complex assembly process. The wheel's diameter can change from 30 to 68mm, and it is light in weight at about 9.7g. Although composed of soft materials (fabrics and films), the wheel can bear more than 400 times its weight. The robot was able to change the wheel's radius in response to terrain conditions, allowing it to pass over a 50-mm gap when the wheel is shrunk and a 50-mm step when the wheel is enlarged.
引用
收藏
页码:163 / 180
页数:18
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