The invention discloses a soft amphibious robot based on a double-layer paper folding structure and a twisting paper folding structure, and belongs to the field of soft robots. The soft amphibious robot based on the double-layer paper folding structure and the twisting paper folding structure is characterized in that a paper folding structure unit, a body structure unit and an air pipe control system unit are matched to act; under the driving of fluid input, the proposed double-layer paper folding structure generates quasi-sequential unfolding and bending movement, the movement is guided by asymmetric unfolding of the low-stretching paper folding assembly, and the advantages between unfolding and bending can be changed through the structure of the double-layer paper folding structure, so that pre-programming of the movement is realized; the soft actuator inspired by folding paper is directly manufactured through low-cost fused deposition modeling 3D printing, the double-layer folding paper structure can achieve expansion and contraction movement from a small initial volume under gas driving, and the robot is no longer limited to swimming on water or crawling on land through the torsion folding paper structure. And amphibious movement can be realized.

    本发明公开了一种基于双层折纸结构和扭转折纸结构的软体两栖机器人,属于软体机器人领域,一种基于双层折纸结构和扭转折纸结构的软体两栖机器人,通过设置的折纸结构单元,身体结构单元和气管控制系统单元配合作用,在流体输入的驱动下,所提出的双层折纸结构产生准顺序展开和弯曲运动,该运动由低拉伸折纸组件的不对称展开引导,展开和弯曲之间的优势可以通过自身结构来改变,从而实现运动的预编程,所提出的受折纸启发的软致动器通过低成本熔融沉积建模3D打印直接制造,双层折纸结构可以由较小的初始体积在气体驱动下实现扩大和收缩运动,所提出的扭转折纸结构使机器人不再局限于水上游动或陆地爬行,使其能够实现两栖运动。


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    Titel :

    Soft amphibious robot based on double-layer paper folding structure and torsion paper folding structure


    Weitere Titelangaben:

    一种基于双层折纸结构和扭转折纸结构的软体两栖机器人


    Beteiligte:
    YANG YANG (Autor:in) / XIE YUAN (Autor:in) / LIU JIA (Autor:in)

    Erscheinungsdatum :

    2023-03-21


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B60F VEHICLES FOR USE BOTH ON RAIL AND ON ROAD , Fahrzeuge für den Verkehr sowohl auf Schienen als auch auf Straßen / B25J Manipulatoren , MANIPULATORS



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