• CN:11-2187/TH
  • ISSN:0577-6686

机械工程学报 ›› 2020, Vol. 56 ›› Issue (19): 143-159.doi: 10.3901/JME.2020.19.143

• 特邀专栏:纪念张启先院士诞辰95周年 • 上一篇    下一篇

扫码分享

广义Waterbomb折纸管的刚性折叠运动特性

冯慧娟1,2, 马家耀1,2, 陈焱1,2   

  1. 1. 天津大学机构理论与装备设计教育部重点实验室 天津 300350;
    2. 天津大学机械工程学院 天津 300350
  • 收稿日期:2020-06-03 修回日期:2020-08-05 出版日期:2020-10-05 发布日期:2020-11-17
  • 通讯作者: 陈焱(通信作者),女,1974年出生,博士,教授,博士研究生导师。主要研究方向为可展结构、机构学、可重构机构、折叠结构等的基础理论及其在航空航天结构、机器人、医疗微结构中的工程应用。E-mail:yan_chen@tju.edu.cn
  • 作者简介:冯慧娟,女,1990年出生,博士。主要研究方向为可重构机构、机构学、刚性折纸。E-mail:huijuan@tju.edu.cn;马家耀,男,1986年出生,博士,副教授,博士研究生导师。主要研究方向为折纸结构、折展结构、薄壁吸能结构及微创手术医疗器械。E-mail:jiayao.ma@tju.edu.cn
  • 基金资助:
    国家自然科学基金资助项目(51825503,51721003,51575377)。

Rigid Folding of Generalized Waterbomb Origami Tubes

FENG Huijuan1,2, MA Jiayao1,2, CHEN Yan1,2   

  1. 1. Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin 300350;
    2. School of Mechanical Engineering, Tianjin University, Tianjin 300350
  • Received:2020-06-03 Revised:2020-08-05 Online:2020-10-05 Published:2020-11-17

摘要: 对折叠模式的精确描述是折纸结构工程应用的前提,但现有的理论和方法无法全面地分析大多数折纸结构的刚性折叠过程。以广义Waterbomb折纸管为研究对象,基于球面机构运动学理论系统地分析了其折叠行为与运动协调条件,推导了折叠管刚性收缩和扭转运动的两套解析运动学方程。研究了各种几何设计参数对Waterbomb折纸管刚性折叠行为的影响,并讨论了该折纸结构折叠过程中的分岔行为与可能的物理干涉,及其引起的刚性折叠与结构形变的转化。此工作为基于广义Waterbomb折纸管的可编程超材料、可变形结构和机器人的设计与控制奠定了理论基础和设计依据,同时为复杂折纸结构的运动学分析提供了有效的手段。

关键词: 广义Waterbomb折纸管, 刚性折纸, 机构运动学, 机构分岔

Abstract: The accurate theoretical description of the folding motion of origami structures is the foundation for their design and precise control in engineering applications. However, the folding behavior of most general origami structures is very difficult to analyze because of the lack of theoretical model and analysis methodology for the complex mobile assemblies of spherical linkages. This paper focuses on the widely-used Waterbomb origami tubes. Based on the kinematics and compatibility of spherical linkages, the rigid folding behavior of generalized Waterbomb tubes was systematically analyzed with analytical kinematics equations to describe their rigid contract and twist motion. The effect of various geometrical parameters on the rigid folding behaviour, bifurcation property as well as physical blockages of the Waterbomb origami tube was studied. This work lays a theoretical foundation for the design and control of programmable metamaterials, deformable structures, and robots based on Waterbomb origami tubes, while such kinematic model can be readily applied to other origami patterns.

Key words: Waterbomb origami tube, rigid folding, kinematics, bifurcation

中图分类号: