Design And Research Of Magnetically Driven Worm Origami Robot

The design inspiration of soft robot mostly comes from the creatures in nature,which is characterized by high flexibility.Origami mechanism not only has the unique coexistence of flexibility and rigidity,but also has excellent properties such as extensibility and negative Poisson’s ratio.It has been widely used in aerospace,construction,rehabilitation medicine,search and rescue missions in disaster environment and robot arms,etc.It has attracted wide attention from scholars at home and abroad,and its future development direction can be grasped more accurately.Firstly,this paper analyzes the existing cylindrical origami structure,and designs a new spatial tubular origami structure based on double fold array crease according to the characteristics of the cylindrical structure.The crease pattern of worm origami structure is compared and optimized and the crease pattern suitable for worm origami robot in this paper is determined,The collapsibility of worm origami structure was analyzed and verified by folding theory and origami simulator.Then,in order to further study the motion characteristics of the worm origami robot,the internal relationship of origami structure is analyzed and deduced.Moreover,the deformation characteristics and steady-state characteristics of origami structure are studied and analyzed.The radial bearing capacity and axial expansion life of origami structure are analyzed by ABAQUS,which provides a theoretical basis for the mo tion law and operating environment of worm robot.Finally,the magnetic drive is selected as the power source of the worm origami robot,and the connection between the origami structures and the layout of the internal magnet are designed.At the same time,the magnetic driving principle is analyzed and calculated by the basic theory of magnetism.The mechanical simulation of the magnetic driving system is carried out by COMSOL,and the motion form of the worm origami robot is simulated and analyzed.In conclusion,the advantages of flexible omnidirectional bending and integrated motion of magnetic-driven worm origami robots allow the development of miniaturized medical devices such as stomach,intestine,trachea and bronchi in constrained biomedical environments,or their application in innovative design of disaste r search and rescue robots.