Design, Analysis, and Experiment of the Origami Robot Based on Spherical-Linkage Parallel Mechanism

摘要

Abstract Origami robot is a hotspot for research in the field of soft robot. However, there are still some major limitations to their application. This study proposed an origami robot based on spherical-linkage parallel mechanism (SLPM) for realizing some functions that cannot be accomplished by conventional robots. This study designed the manufacturing and assembling processes for the SLPM section according to the needs of practical applications, to explore the influence of flexible hinge on the resistance of SLPM section to lateral and torsional forces, the finite element simulation of SLPM section was performed, and the physical model of SLPM section was made to conduct a series of experiment. Also, an origami robot based on SLPM was also made, and the motion form of the robot was explored by adams. At last, through establishing a mathematical model, the relationship for conversion between the two control modes of the robot was deduced. Based on this, an experiment on the bending angle of the robot was carried out, and the simulation results were compared. This paper will promote the research of origami robot in structure design, motion control, etc.