基于刚性折纸的新型可折展移动机器人折展原理分析及验证

针对现有轮式机器人的本体相对固定无法适应复杂环境的问题，将自由度较少、折展比大的刚性折纸机构与高效的轮式运动相结合，提出一种新型可折展移动机器人机构，提升了移动机器人在复杂环境下的通过性能。对此机构折展原理进行分析，得到机器人三维尺寸与驱动角之间的关系，并通过建立简化模型，对动力学进行研究，得到不同位置的驱动力矩随驱动角的变化，从而得到最优驱动布置方案，之后通过运动协调算法研究，实现了机器人移动与折展协调运动，使其能够在复杂环境中高效运动。最后搭建物理样机以及控制系统，并通过试验验证机器人的移动及折展性能。结果表明，该可折展移动机器人具有三维折展比大，运动灵活高效的优点，可通过切换姿态适应复杂路径，有望在探测、检测以及救援等工程领域得到应用。

Analysis and Verification on Working Principle of a New Deployable Mobile Robot Based on Rigid Origami

Aiming at the problem that the body of the existing wheeled robot is relatively fixed and cannot adapt to the complex environment, a new type of deployable mobile robot mechanism is proposed by introducing a rigid origami mechanism, which is with less degrees of freedom and large folding ratio, into efficient wheeled motion, and improves the passing performance in complex environments. The working principle analysis of this mechanism is carried out, and the relationship between the three-dimensional sizes of the robot and driving angles is obtained. By establishing a simplified model of the robot, its dynamics is carried out. Then, the change of the driving torque of different positions with the driving angle is obtained, which is used to optimize the driving arrangement scheme. Through a proposed algorithm, the compatible movement between the main body folding and the wheel motion is realized, so that the robot can move efficiently in the complex environment. Finally, a physical prototype and the control system are built, based on which the movement and folding performance are verified through two experiments. The results show that the robot could fit complex paths flexibly by switching its postures, and has the advantages of large deployment and folding ratio. Therefore, the robot owns the potential applications in some engineering fields such as detection, detection and rescue.