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Design, fabrication and control of origami robots
Nature Reviews Materials ( IF 83.5 ) Pub Date : 2018-05-09 , DOI: 10.1038/s41578-018-0009-8
Daniela Rus , Michael T. Tolley

Origami robots are created using folding processes, which provide a simple approach to fabricating a wide range of robot morphologies. Inspired by biological systems, engineers have started to explore origami folding in combination with smart material actuators to enable intrinsic actuation as a means to decouple design from fabrication complexity. The built-in crease structure of origami bodies has the potential to yield compliance and exhibit many soft body properties. Conventional fabrication of robots is generally a bottom-up assembly process with multiple low-level steps for creating subsystems that include manual operations and often multiple iterations. By contrast, natural systems achieve elegant designs and complex functionalities using top-down parallel transformation approaches such as folding. Folding in nature creates a wide spectrum of complex morpho-functional structures such as proteins and intestines and enables the development of structures such as flowers, leaves and insect wings. Inspired by nature, engineers have started to explore folding powered by embedded smart material actuators to create origami robots. The design and fabrication of origami robots exploits top-down, parallel transformation approaches to achieve elegant designs and complex functionalities. In this Review, we first introduce the concept of origami robotics and then highlight advances in design principles, fabrication methods, actuation, smart materials and control algorithms. Applications of origami robots for a variety of devices are investigated, and future directions of the field are discussed, examining both challenges and opportunities.



中文翻译:

折纸机器人的设计,制造和控制

折纸机器人是使用折叠工艺创建的,该工艺提供了一种制造各种机器人形态的简单方法。受生物系统的启发,工程师已开始探索与智能材料致动器结合的折纸折叠,以实现固有致动,从而将设计与制造复杂性脱钩。折纸主体的内置折痕结构具有产生柔韧性并显示出许多柔软特性的潜力。机器人的常规制造通常是自下而上的组装过程,具有多个低级步骤,用于创建包括手动操作和通常多次迭代的子系统。相比之下,自然系统使用诸如折叠之类的自上而下的并行转换方法来实现优雅的设计和复杂的功能。自然界中的折叠产生了各种各样的复杂的形态功能结构,例如蛋白质和肠,并使诸如花,叶和昆虫翅膀的结构得以发展。受自然界的启发,工程师们开始研究由嵌入式智能材料执行器驱动的折叠机,以创建折纸机器人。折纸机器人的设计和制造利用自上而下的并行转换方法来实现优雅的设计和复杂的功能。在这篇评论中,我们首先介绍折纸机器人的概念,然后重点介绍设计原理,制造方法,致动,智能材料和控制算法方面的进步。研究了折纸机器人在各种设备上的应用,并讨论了该领域的未来方向,同时探讨了挑战和机遇。

更新日期:2018-05-09
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