| 王艳， 许勇， 董飞， 张强强， 赵传森.折纸启发的空间可折展末端执行器设计[J].轻工机械,2021,39(2):29-34 |
| 折纸启发的空间可折展末端执行器设计 |
| Design of Space Foldable End Effector by Origami Inspired |
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| DOI：10.3969/j.issn.1005 2895.2021.02.006 |
| 中文关键词: 折纸机器人 末端执行器 刚性折纸 单环闭链机构 |
| 英文关键词:origami robot end effector rigid origami single loop closed chain mechanism |
| 基金项目: |
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| 摘要点击次数: 895 |
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| 中文摘要: |
| 为解决多自由度可折展机构及折纸机器人等末端执行器的控制问题，课题组提出了一种外部链节间接控制刚性折纸机构的方法。该方法中的机构无需组装，降低了系统的复杂性，且单自由度驱动可使得刚性折纸机构可逆地折叠和展开。课题组将刚性折纸机构与单环闭链机构进行结合，提出了一种空间可折展末端执行器；该末端执行器采用3个固接Bricard机构为外部链节，只需要1个旋转驱动即可控制空间3自由度末端执行器的折展过程。课题组首先对外部链节进行了运动学分析，然后对外部链节进行驱动设计，最后对整个末端执行器进行仿真实验分析。结果表明在外部链节的控制下，能够实现单个驱动控制3个自由度末端执行器的同时收放，验证了理论分析的正确性。用外部链节控制刚性折纸机构的方法只需要最小的驱动力可实现复杂的运动。 |
| 英文摘要: |
| Aiming at the control problems of the end effector such as the multi degree of freedom foldable mechanisms and the paper folding robots, a method for indirect control of rigid paper folding mechanisms by external links was proposed. The proposed mechanism required no assembly to reduce the complexity of the system and the rigid origami mechanism can be reversibly folded and unfolded by single degree of freedom drive. By combining the rigid origami mechanism with single loop closed chain mechanism, a space foldable end effector was proposed. Three fixed Bricard mechanisms were used as external links, and only one rotary drive was required to control the folding process of the three degree of freedom end effector. The kinematics analysis of the external chain link was carried out, and then the drive of the external chain link was designed, finally the simulation experiment of the whole end effector was carried out. The results show that under the control of the external chain link, a single drive can control the three degree of freedom end effector at the same time, which verifies the correctness of the theoretical analysis. The method of controlling the rigid paper folding mechanism with external chain links requires only minimal driving force to achieve complex movements. |
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