Novel Walking Robot based on the Design of Origami Mechanism
In view of the limitations of walking robots such as complex driving and inability to adapt to different walking environments， a new type of single-degree-of-freedom walking robot with two leg origami configurations based on the origami mechanism is designed， by folding Miura origami crease angle th...
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| Main Authors: | , , , , , , |
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| Format: | Article |
| Language: | zho |
| Published: |
Editorial Office of Journal of Mechanical Transmission
2021-05-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2021.05.010 |
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| _version_ | 1841547303189479424 |
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| author | Xinyang Jiang Yong Xu Yan Wang Jiali Liu Chuansen Zhao Lü Yeping Yu Wang |
| author_facet | Xinyang Jiang Yong Xu Yan Wang Jiali Liu Chuansen Zhao Lü Yeping Yu Wang |
| author_sort | Xinyang Jiang |
| collection | DOAJ |
| description | In view of the limitations of walking robots such as complex driving and inability to adapt to different walking environments， a new type of single-degree-of-freedom walking robot with two leg origami configurations based on the origami mechanism is designed， by folding Miura origami crease angle theory is combined with leg equivalent kinematics model， the kinematics solution is simplified and a new driving mode is designed. The theory of single-vertex origami is extended to the multi-vertex origami configuration， and the definite relationship between the crease corners of different units is obtained. A gait plan that matches the folding state of origami is proposed. The simulation results show that the origami configuration of the robot legs can achieve a long-span and long-span walking gait. Due to the large-span motion at the end of the foot， it does not slide relative to the ground， can achieve smooth walking on roads of different complexity. |
| format | Article |
| id | doaj-art-efdb92456e0e4a7d8849f42b0f47b046 |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2021-05-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-efdb92456e0e4a7d8849f42b0f47b0462025-01-10T14:49:10ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392021-05-0145667410227743Novel Walking Robot based on the Design of Origami MechanismXinyang JiangYong XuYan WangJiali LiuChuansen ZhaoLü YepingYu WangIn view of the limitations of walking robots such as complex driving and inability to adapt to different walking environments， a new type of single-degree-of-freedom walking robot with two leg origami configurations based on the origami mechanism is designed， by folding Miura origami crease angle theory is combined with leg equivalent kinematics model， the kinematics solution is simplified and a new driving mode is designed. The theory of single-vertex origami is extended to the multi-vertex origami configuration， and the definite relationship between the crease corners of different units is obtained. A gait plan that matches the folding state of origami is proposed. The simulation results show that the origami configuration of the robot legs can achieve a long-span and long-span walking gait. Due to the large-span motion at the end of the foot， it does not slide relative to the ground， can achieve smooth walking on roads of different complexity.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2021.05.010Walking robotMiura origamiOrigami mechanismKinematics |
| spellingShingle | Xinyang Jiang Yong Xu Yan Wang Jiali Liu Chuansen Zhao Lü Yeping Yu Wang Novel Walking Robot based on the Design of Origami Mechanism Jixie chuandong Walking robot Miura origami Origami mechanism Kinematics |
| title | Novel Walking Robot based on the Design of Origami Mechanism |
| title_full | Novel Walking Robot based on the Design of Origami Mechanism |
| title_fullStr | Novel Walking Robot based on the Design of Origami Mechanism |
| title_full_unstemmed | Novel Walking Robot based on the Design of Origami Mechanism |
| title_short | Novel Walking Robot based on the Design of Origami Mechanism |
| title_sort | novel walking robot based on the design of origami mechanism |
| topic | Walking robot Miura origami Origami mechanism Kinematics |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2021.05.010 |
| work_keys_str_mv | AT xinyangjiang novelwalkingrobotbasedonthedesignoforigamimechanism AT yongxu novelwalkingrobotbasedonthedesignoforigamimechanism AT yanwang novelwalkingrobotbasedonthedesignoforigamimechanism AT jialiliu novelwalkingrobotbasedonthedesignoforigamimechanism AT chuansenzhao novelwalkingrobotbasedonthedesignoforigamimechanism AT luyeping novelwalkingrobotbasedonthedesignoforigamimechanism AT yuwang novelwalkingrobotbasedonthedesignoforigamimechanism |