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

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  • 11 Department of Mechanical and Aerospace Engineering, Seoul National University , Seoul, Korea.

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This study introduces a novel origami-inspired soft robotics wheel that changes diameter, enhancing robot mobility on challenging terrain. This variable-diameter wheel allows robots to overcome obstacles like gaps and steps effectively.

Keywords:
deformable wheelorigamiorigami wheelorigami-inspired mechanismsoft origamitransformable wheel

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Area of Science:

  • Robotics
  • Materials Science
  • Mechanical Engineering

Background:

  • Traditional wheel drive mechanisms struggle with mobility in unstructured terrains.
  • Deformable wheels offer a potential solution to enhance robot navigation capabilities.
  • Variable wheel radius can enable robots to traverse diverse obstacles such as steps and gaps.

Purpose of the Study:

  • To propose a novel variable-diameter wheel design.
  • To utilize an origami-based soft robotics approach for wheel construction.
  • To improve the mobility of wheel drive robots in unstructured environments.

Main Methods:

  • Designed a variable-diameter wheel by folding a patterned sheet.
  • Employed soft materials (fabrics and films) for wheel construction.
  • Integrated the wheel into a robot capable of adjusting wheel radius based on terrain.

Main Results:

  • The origami-based wheel demonstrated a variable diameter from 30 to 68 mm.
  • The lightweight wheel (9.7 g) supported over 400 times its weight.
  • The robot successfully navigated a 50-mm gap (shrunk wheel) and a 50-mm step (enlarged wheel).

Conclusions:

  • The proposed origami-based soft robotics approach offers a simple yet effective method for creating variable-diameter wheels.
  • This novel wheel design significantly enhances robot mobility, enabling traversal of challenging terrains.
  • The design eliminates the need for complex mechanical parts, simplifying assembly and reducing weight.