RevLock: A Reversible Self-Locking Mechanism Driven by Linear Actuators for Foldable Robots and Systems

摘要

The designs of origami-and kirigami-inspired robots enable configurations from 2D to 3D shapes, lightweight systems, and take advantage of rapid fabrication techniques. These features have been explored for robotics in applications ranging from aerospace to medical devices. However, achieving reversible reconfigurations that sustain/lock between shapes without requiring constant energy input and allow system integration (e.g., sensing, assembly) is challenging. This letter proposes a design and fabrication approach that uses electrically driven mechanisms to enable reversible self-reconfiguration and locking without constant energy input. We leverage origami and kirigami-inspired designs to transmit the motions of a planar artificial muscle and low melting point alloys for time-controlled locking. Using these techniques, we demonstrate compact systems in multiple reconfigurable robotic applications, from gripping to crawling.