Research On The Design And Motion Control Of A Magnetic Driving Origami Manipulator

The origami mechanism has many characteristics,such as light weight,high expansion ratio,good flexibility,etc,and it is easy to realize miniaturization.It is widely used in the fields of robot design,aerospace expandable mechanism,micro-nano operation,medical non-invasive surgery,wearable equipment,energy absorption,etc.This paper has proposed a flexible multi-degree-of-freedom origami manipulator,which is driven by a magnetic field to achieve bending,anchoring,telescopic and other operations.This paper has carried out research on paper folding mechanism design,electromagnetic drive design,magnetic positioning method and trajectory control,etc.The specific contents are as follows:The structure design and analysis of the origami manipulator.Based on the functional requirements,the structure of the manipulator based on a waterbomb origami mechanism that can be extended and bent is designed.Based on the spiral theory,the degree of freedom of the origami manipulator is analyzed.By the analysis of magnetic force,the kinematic equation of the manipulator is established.The deformation of the origami manipulator is analyzed by finite element simulation.The structure design of the electromagnetic driver.Based on the number of degree-of-freedom of the origami manipulator and its working space,an electromagnetic driver with four square coils is designed,the structural parameters of the electromagnetic driver are determined,the electromagnetic drive system of the origami manipulator is built,and the characteristics of the magnetic field that electromagnetic driver produced are analyzed by finite element simulation.The design of motion control and posture detection system of the origami manipulator.Based on the motion simulation analysis of the magnetic drive origami manipulator,a posture detection and feedback system based on the magnetic positioning method is designed,and the motion control of the magnetic drive origami manipulator are completed.At last,the magnetic drive control experiment of the origami manipulator is carried out,the performance of the magnetic drive origami manipulator is analyzed,and the effectiveness,accuracy and current problems of the adopted attitude detection and feedback system are analyzed.