Phuong Thao Thai and Ngoc Hai Nguyen
Transformable robot, origami robot, Sarrus linkage, waterbomb, origami technology.
Nowadays, the use of origami pattern for transformable robot is implemented in much research with the advantages of creating lightweight, transformability from 2D to 3D shapes. However, most of the origami patterns are made of several creases, then forming 3D shapes process requires complicated folding behaviours. In this paper, the authors would like to create a transformable box-shaped robot with origami pattern and the transformation of this robot can be completed with one driven motor. This robot can be used for packaging, working in harsh environment, etc. Therefore, the idea of designing one degree-of-freedom box-shaped robot is implemented. In this paper, two designs have been analysed. The first design is the waterbomb robot that uses the traditional origami pattern. The second design takes the Sarrus linkage as the main mechanism for the mobile robot. In both designs, one motor is enough for robot transformation, then the robot will be lightweight and compact. The kinematic, dynamic problems have been solved and then the controlling of two transformable robots is analysed by using MATLAB software. The comparison of the torque required for forming 3D shape has been done for optimising robot design. Finally, the prototype of the optimised design is introduced to illustrate the proposed method.
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