Wang Xiaolei, Qu Haibo, Li Xiao, Kuang Yili, Wang Haoqian, Guo Sheng
Robotics Research Center, School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing 100044, PR China.
Research Center of Robotics Technology and Equipment, Tangshan Research Institute, Beijing Jiaotong University, Tangshan 063000, China.
PNAS Nexus. 2023 Mar 23;2(4):pgad098. doi: 10.1093/pnasnexus/pgad098. eCollection 2023 Apr.
Kresling pattern origami-inspired structural design has been widely investigated using its bistable property and the single coupling degree of freedom (DOF). In order to obtain new properties or new origami-inspired structures, it needs to innovate the crease lines in the flat sheet of Kresling pattern origami. Here, we present a derivative of Kresling pattern origami-multi-triangles cylindrical origami (MTCO) with tristable property. The truss model is modified based on the switchable active crease lines during the folding motion of the MTCO. Using the energy landscape obtained from the modified truss model, the tristable property is validated and extended to Kresling pattern origami. Simultaneously, the high stiffness property of the third stable state and some special stable states are discussed. In addition, MTCO-inspired metamaterials with deployable property and tunable stiffness, and MTCO-inspired robotic arms with wide movement ranges and rich motion forms are created. These works promote research on Kresling pattern origami, and the design ideas of the metamaterials and robotic arms play a positive role in improving the stiffness of deployable structures and conceiving motion robots.
受克雷斯林图案折纸启发的结构设计因其双稳态特性和单耦合自由度而受到广泛研究。为了获得新的特性或新的受折纸启发的结构，需要对克雷斯林图案折纸的平板中的折痕线进行创新。在此，我们提出了一种具有三稳态特性的克雷斯林图案折纸的衍生物——多三角形圆柱折纸（MTCO）。基于MTCO折叠运动过程中可切换的主动折痕线对桁架模型进行了修改。利用从修改后的桁架模型获得的能量景观，验证了三稳态特性并将其扩展到克雷斯林图案折纸。同时，讨论了第三稳定状态和一些特殊稳定状态的高刚度特性。此外，还创建了具有可展开特性和可调刚度的受MTCO启发的超材料，以及具有宽运动范围和丰富运动形式的受MTCO启发的机器人手臂。这些工作推动了对克雷斯林图案折纸的研究，超材料和机器人手臂的设计理念对提高可展开结构的刚度和构思运动机器人起到了积极作用。
