Shape memory spring bionic robot based on gradient Miura origami elastic curved beam

Abstract

The invention discloses a shape memory spring bionic robot based on a gradient Miura origami elastic curved beam. The shape memory spring bionic robot comprises a Miura origami base body in a curved beam form, a shape memory spring, a left foot and a right foot. The two ends of the shape memory spring are fixed to the two ends of the paper folding base body respectively, the left foot and the right foot are connected to the left end and the right end of the paper folding base body respectively, rack structures are arranged at the bottoms of the left foot and the right foot respectively, and the rack structures provide a one-way friction mechanism so that the bionic robot can only move in the set direction. The characteristic that the gradient Miura origami can store elastic energy is utilized, the gradient Miura origami is matched with the power element shape memory spring, the robot capable of providing two-way motion is manufactured, and the Miura origami base body has the advantages of being not prone to fatigue, light in weight and the like.

Description

technical field [0001] The invention belongs to the field of bionic robot design, in particular to a shape memory spring bionic robot based on gradient Miura origami elastic curved beams. Background technique [0002] Origami is an ancient handicraft art originating from China. In recent years, its special kinematics and dynamics properties are gradually being tapped and widely used in the design of soft bionic robots. Among them, Miura ori origami is a kind of rigid origami that can achieve approximately complete folding and fully unfolding, and gradient Miura origami, as a deformation of Miura ori origami, can realize folding self-bending with a certain curvature, and the degree of bending can be determined by the crease diagram The parameters determine, at the same time, there is an obvious transition process from rigid origami to non-rigid origami in the gradient Miura folding process, which makes it have rich mechanical properties. [0003] However, the current applica...

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Problems solved by technology

[0003]However, most of the current applications of origami in biomimetic robotic structures are rigid folds, and few studies exploit the properties of non-rigid origami, which necessitates the design of two-way dynamic components To complete the periodic movement of the robot to support its crawling, jumping, etc.

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