双稳态折纸型柔性臂力学建模与展开分析

doi:10.3901/JME.2025.21.227

摘要/Abstract

摘要： 受折纸启发的设计为空间技术中的诸多挑战提供了新的解决方案。基于折纸原理的柔性臂因其质量轻、体积小、适应性强等优点，受到越来越多的关注。提出一种可模块化拓展的折纸型柔性臂结构，该结构具有双稳态特性，可有效提高柔性臂的轴向展开刚度。通过分析柔性臂胞体结构中折痕之间的约束关系，建立几何模型。通过在变形平面内添加虚拟折痕，将单平面的弹性变形等效为双平面的回转运动。在普通折痕和虚拟折痕上引入扭转刚度，计算得到柔性臂胞体结构的弹性势能，进而建立力学模型。力学分析结果表明，折纸型柔性臂具有双稳态特性，且该特性与柔性臂材料的弯曲折叠刚度比值密切相关。设计并制作了3个不同长度的折纸柔性臂模型，并开展功能验证实验，结果表明该柔性臂具有较高的展收比和良好的展开稳定性。根据拉伸实验结果，对力学模型进行修正，实现对任意口径折纸柔性臂展开驱动力的预估。

关键词: 折纸柔性臂, 虚拟折痕, 双稳态, 力学特性

Abstract: Designs inspired by origami provide new solutions to various challenges in spatial technology. Flexible arms based on origami principles are attracting increasing attention due to their lightweight, compact size, and high adaptability. This research proposes a modular, expandable origami-based flexible arm structure with bistable characteristics, which effectively enhances the arm’s axial deployment stiffness. A geometric model is developed by analyzing the constraint relationships between the creases in the flexible arm’s unit cell structure. By introducing virtual creases within the deformation plane, the elastic deformation of a single plane is represented as a rotational motion between two planes. Torsional stiffness is incorporated at both regular and virtual creases, allowing for the calculation of the elastic potential energy of the arm’s unit cell structure, which leads to the development of a mechanical model. Mechanical analysis results demonstrate that the origami-based flexible arm exhibits bistable characteristics closely related to the bending-to-folding stiffness ratio of the arm material. Three origami-based flexible arm models of varying lengths are designed and fabricated, followed by functional verification experiments. The results demonstrate that the flexible arms exhibit a high deployment-to-contraction ratio and stable deployment performance. Based on stretching test results, the mechanical model is refined, enabling the prediction of deployment driving forces for origami flexible arms of any diameters.

Key words: oigami flexible arm, virtual crease, bistability, mechanical properties

中图分类号:

TG156

刘名利, 史创, 郭宏伟, 刘荣强. 双稳态折纸型柔性臂力学建模与展开分析[J]. 机械工程学报, 2025, 61(21): 227-236.

LIU Mingli, SHI Chuang, GUO Hongwei, LIU Rongqiang. Mechanical Modeling and Deployment Analysis of Bistable Origami Flexible Arm[J]. Journal of Mechanical Engineering, 2025, 61(21): 227-236.

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