Zhang Chao, Zhang Zhuang, Peng Yun, Zhang Yanlin, An Siqi, Wang Yunjie, Zhai Zirui, Xu Yan, Jiang Hanqing
School of Engineering, Westlake University, Hangzhou, Zhejiang, 310030, China.
Key Laboratory of Soft Machines and Smart Devices of Zhejiang Province, Zhejiang University, Hangzhou, Zhejiang, 310027, China.
Nat Commun. 2023 Jul 19;14(1):4329. doi: 10.1038/s41467-023-39980-7.
Three basic deformation modes of an object (bending, twisting, and contraction/extension) along with their various combinations and delicate controls lead to diverse locomotion. As a result, seeking mechanisms to achieve simple to complex deformation modes in a controllable manner is a focal point in related engineering fields. Here, a pneumatic-driven, origami-based deformation unit that offers all-purpose deformation modes, namely, three decoupled basic motion types and four combinations of these three basic types, with seven distinct motion modes in total through one origami module, was created and precisely controlled through various pressurization schemes. These all-purpose origami-based modules can be readily assembled as needed, even during operation, which enables plug-and-play characteristics. These origami modules with all-purpose deformation modes offer unprecedented opportunities for soft robots in performing complex tasks, which were successfully demonstrated in this work.
物体的三种基本变形模式（弯曲、扭转和收缩/伸展）及其各种组合和精确控制导致了多样化的运动。因此，寻求以可控方式实现从简单到复杂变形模式的机制是相关工程领域的一个焦点。在此，创建了一种基于折纸的气动驱动变形单元，该单元提供通用变形模式，即三种解耦的基本运动类型以及这三种基本类型的四种组合，通过一个折纸模块总共具有七种不同的运动模式，并通过各种加压方案进行精确控制。这些基于折纸的通用模块可以根据需要轻松组装，甚至在运行过程中也可以，这实现了即插即用的特性。这些具有通用变形模式的折纸模块为软机器人执行复杂任务提供了前所未有的机会，这项工作成功地证明了这一点。
