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Yoshimura-origami Based Earthworm-like Robot With 3-dimensional Locomotion Capability.
Qiwei Zhang1, Hongbin Fang2,3,4, Jian Xu1
1School of Aerospace Engineering and Applied Mechanics, Tongji University, Shanghai, China.
Frontiers in Robotics and AI
|September 7, 2021
Summary
This study introduces a 3D earthworm-like robot using Yoshimura origami for enhanced locomotion. The robot achieves complex movements like turning and rising, advancing robotic capabilities in diverse environments.
Area of Science:
- Robotics
- Mechanical Engineering
- Materials Science
Background:
- Earthworm-like robots are recognized for their versatile locomotion.
- Existing robots often limited to 2D movement.
- Yoshimura origami offers unique 3D deformability.
Purpose of the Study:
- To enhance earthworm-like robot locomotion from 2D to 3D.
- To analyze the kinematics and mechanical properties of the Yoshimura-origami structure.
- To develop a hybrid actuation system for 3D movement.
Main Methods:
- Systematic kinematic analysis of the non-rigid-foldable Yoshimura-ori structure.
- Experimental evaluation of PETE film prototypes to determine mechanical properties.
- Integration of a hybrid actuation mechanism (SMA springs, pneumatic balloons, electromagnets) into the Yoshimura-ori skeleton.
- Design of locomotion gaits inspired by earthworm retrograde peristalsis.
Main Results:
- The Yoshimura-ori structure exhibits large axial deformation and multi-directional bending, expanding workspace.
- Prototypes demonstrated effective rectilinear, turning, and rising locomotion.
- The hybrid actuation system successfully controlled the robot's 3D movements.
- Experimental data provided guidelines for robot design.
Conclusions:
- The Yoshimura-origami structure significantly advances 3D locomotion capabilities in earthworm-like robots.
- The developed hybrid actuation mechanism and control strategy enable complex 3D movements.
- This research offers a novel platform for robots operating in complex, three-dimensional environments.
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