An Origami-inspired Metamaterial And Its Application To Magnetic-drive Robot

In recent years,origami-inspired structures,origami-inspired metamaterials and even origami-inspired robotics primarily demonstrate promising potential for innovative inspirations of engineering solutions.Inspired by a kind of origami flexible ball based on rhombic icosahedron,this paper studies metamaterial properties of origami flexible ball under various deformation forms and its potential in robot design,analyzes and solves the structural design,preparation and magnetic drive deformation of origami flower ball series with rhombic cells as deformation units.Finally,a new type of flexible magnetic drive pipeline robot inspired by origami and adapted to variable diameter pipelines is proposed by taking magnetic drive pipeline robot as an application example and experimental verification.The main contents of the full text are as follows:Firstly,using Snapology Technique based on unit and modularization,the structure of origami flower ball based on rhombic icosahedron is analyzed,and the basic components of flower ball model and its modularization construction are studied.The geometric topology of rhombus polyhedron with rhombus cells as unit is analyzed by euler theorem.It is deduced that many rhombus polyhedrons suitable for reconfigurable design are rhombus hexahedron,ronrhombus dodecahedron and rhombic triacontahed respectively.The highly flexible diamond-shaped cell is regarded as a deformation unit,and the deformation mechanism and multi-stable state of the origami flower ball based on the diamond-shaped polyhedron series,the metamaterial characteristics of variable shape,volume and structural rigidity are explored.Secondly,through the structural design of the folded paper flower ball series and the cardboard theory,the geometric design of the structure of the foundation member is completed,the crease is regarded as an elastic hinge with a certain length and thickness,and the two folded surfaces connected by the hinge are regarded as rigid panels.The length L of the hinge is designed according to the principles of foldability and geometric compatibility.The thickness of the hinge takes into account the influence on the folding stiffness and folding effect of the member.The parametric modeling of basic components is completed by using Solid Works,and the configuration parameters of the 3D printing model are tested and verified by using Repetier-Host software to determine the optimal structure and parameters of the printing model and complete the design and preparation of the flower ball model.Finally,the injection molding process is used to prepare the magnetically active elastomer of the magnetic drive material;the deployment scheme of the diamond unit cell structure magnet is analyzed using ANSYS finite element simulation software,and the magnet deployment scheme is reasonably selected according to the structural deformation design requirements for the later realization of the magnetic drive The complete design of the robot provides a theoretical basis;according to the design concept of the flower ball structure as the robot body,the magnetically active elastomer and the small permanent magnet are deployed as local drives to complete the overall assembly of the robot;through the design of the variable-diameter pipe experiment,the magnetic The driving pipeline robot is an application example to test and verify the feasibility of the overall scheme.