Modular Origami Robot Inspired by a Scorpion Tail

Abstract

Arthropod animals like scorpions with modular body parts can be an inspiration for a robot’s structure. The design presented here relays on inter-connected origami towers, but could also be easily disassembled. Each origami tower is fully autonomous and at the same time is part of the robot as a whole. The towers are positioned between two platforms that enable modularity. The scorpion’s tale shape is achieved by the varying platform diameter resulting in cone-like form. Each tower is actuated independently to enable multiple degrees of freedom. Maneuvering with separated units, assists in easier reparation as well as replacement. Detaching the towers into separate parts makes this structure develop more precise movements, since every unit will move autonomously. Therefore, having a higher number of separated movements combined leads to a smooth bionic movement. So, the overall hierarchy will be modular contributing to a greater curvature bending of the whole structure. Actuating and maneuvering the robot in the main concept is done by separated electro motors, built in the platform. The basic structure will be built from thick paper with plastic coatings. The thick paper itself is lightweight, but at the same time flexible. To protect the paper towers, double plastic foil is placed as an outer coating which acts as an origami cover. This transparent layer is elastic hence it can follow and support the individual units’ movements. This work is focused on understanding origami towers kinematics and different combinations of inter-connected towers to achieve multiple degrees of freedom. A conceptual model is developed, supported by CAD and mathematical models. At the end a prototype is presented.

Design and analysis of plate angles of the four-vertex origami pattern and its impacts on movement of rotational joints

“…The robot is flat while not operational and it takes a cylindrical shape while actuated. Various origami patterns in robots take cylindrical forms such as Yoshimura origami pattern [29][30][31][32][33][34], twisted tower by Mihoko Tachibana [35,36], Kresling pattern [37][38][39][40][41], Miura origami [42], the combination of two triangles and three waterbomb bases [43][44][45]. The structure constrains the robot's movement and requires more modules or fabrication on a smaller scale to do delicate tasks.…”