CN108356809A - A kind of origami structure based on optical drive autofolding - Google Patents
A kind of origami structure based on optical drive autofolding Download PDFInfo
- Publication number
- CN108356809A CN108356809A CN201810132594.XA CN201810132594A CN108356809A CN 108356809 A CN108356809 A CN 108356809A CN 201810132594 A CN201810132594 A CN 201810132594A CN 108356809 A CN108356809 A CN 108356809A
- Authority
- CN
- China
- Prior art keywords
- line
- rectangular element
- patch
- center line
- photosensitive
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/025—Arms extensible telescopic
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Electrochromic Elements, Electrophoresis, Or Variable Reflection Or Absorption Elements (AREA)
Abstract
The invention discloses a kind of origami structures based on optical drive autofolding, are arranged in a combination by several rectangular elements, and the rectangular element is the flake structure with tow sides, and rectangular element is symmetrical by boundary of center line；The positive and negative of the rectangular element is equipped with photosensitive patch, and positive photosensitive patch is fixed on the diagonal line that the left and right sides is intersected, and the photosensitive patch of reverse side is fixed on the boundary line of center line and adjacent two rectangular element；The photosensitive patch is bent to away from rectangular element side under light illumination, drives overall structure to be bent to reverse side along the boundary line of center line and adjacent two rectangular element, while the diagonal line on the left and right sides is bent to front.The present invention integrally uses optical drive, fast response time to accurately control folding and the expansion process of structure using the connecting line of the triangle projective planum unit that will not be deformed upon and two adjacent plane units as revolute pair.
Description
Technical field
The invention belongs to flexible robot's technical field, more particularly to a kind of origami structure based on optical drive autofolding.
Background technology
Flexible robot's technology achieved the progress advanced by leaps and bounds within past 10 years.Researcher all over the world tries
Different materials and design were tested, to allow rigid robot to be bent in a more natural way and be carried out with the mankind interactive.So
And the flexibility for enhancing robot often means that the compromise in strength, because relatively soft material is generally not so good as rigid material
Material has higher intensity, and which also limits the uses of flexible robot.
And inspired by high intensity origami structure, various autofolding construction and devices are devised in conjunction with modern Application, including
Remote control robot, micro-fluidic chemical analysis, organizational project, artificial muscle etc..It also has in real life and scientific research
The possibility of a variety of applications, such as the folding of parachute, the design of space probe solar panel, the structure of air bag,
So that the space folding problem of DNA, protein and other.
The origami structure of autofolding is just rapidly growing in the forward position of scientific and technical innovation, because they are able to carry out the folding of sequencing
Folded/expansion movement is without the movement manipulation by external force or torque.The artificial-muscle of origami structure can be customized to any shape, and
It is more than article of the own wt without several times to lift, and is expected to provide safe and powerful power for countless machine and robot, so
And cost, operation principle, scalability and the single-degree-of-freedom that design, manufacture and the execution of artificial-muscle are frequently subjected to material are received
The limitation of the factors such as contracting movement.
Invention content
The object of the present invention is to provide a kind of origami structures based on optical drive autofolding potentially acting as artificial-muscle.
For this purpose, the technical scheme is that：A kind of origami structure based on optical drive autofolding, by several rectangle lists
Identical permutation is composed, and the rectangular element is the flake structure with tow sides, and rectangular element is using center line as boundary or so
Symmetrically；The positive and negative of the rectangular element is equipped with photosensitive patch, and positive photosensitive patch is fixed on pair that the left and right sides is intersected
On linea angulata, the photosensitive patch of reverse side is fixed on the boundary line of center line and adjacent two rectangular element；The photosensitive patch exists
Under illumination to away from rectangular element side bend, drive overall structure along the boundary line of center line and adjacent two rectangular element to
Reverse side is bent, while the diagonal line on the left and right sides is bent to front.
Preferably, the rectangular element is made of redox graphene, and photosensitive patch is by graphene oxide and poly- DOPA
The mixture of amine is made.
Preferably, the folding line of the origami structure include center line on rectangular element, the diagonal line that intersects on the left and right sides
And the boundary line of adjacent two rectangular element；The photosensitive patch is fixed on the centre position of corresponding folding line, and is parallel to this
Folding line.
Preferably, i.e., positive photosensitive patch is fixed on cornerwise centre position, and positive on same rectangular element
Photosensitive patch is respectively parallel to both sides diagonal line；The photosensitive patch of reverse side is fixed on center line and two rectangular element boundary lines
Centre position, and it is parallel to each other with center line, boundary line.
Preferably, when intensity of illumination changes, the photosensitive patch drives Integral rectangular unit planar what is be fully deployed
It is converted between state and the stereoscopic-state of folding.
Origami structure of the present invention can be completed with 3D printing technique, first print one layer of GO（Graphene oxide）Square
Then shape unit prints GO-PDA in the positive and negative of rectangular element（The mixture of graphene oxide and poly-dopamine）Layer it is photosensitive
Patch puts it into HI（Hydroiodic acid）Middle washing makes the rectangular element of GO be reduced into rGO（Redox graphene）, most descendant
Work folds expected desired folding line.Photosensitive patch GO-PDA layers are made of hydrophilic GO and PDA pieces, it to temperature change very
Sensitivity, after temperature increases, GO-PDA layers of dehydration, to have good water absorbing capacity；When the temperature decreases, GO-PDA layers of suction
Water has good dehydration ability.In contrast, the change of temperature is nearly free from influence to the rGO of rectangular element layers.In ring
During the temperature change of border, exactly because the difference of water suction/dehydration ability, does not lead to expansion/contractions of GO-PDA layers and rGO layers not
Match so that GO-PDA layers of stereomutation, and interfacial stress is generated to cause the bending of whole composite construction/be not bent.Cause
This, origami structure is in straightened condition, when being stimulated by illumination, each rectangular element can be by photosensitive when being not affected by illumination
The bending of patch orderly turns down after driving, and from a two-dimensional plane state, is folded into three-dimensional state.
The present invention is rotation with the connecting line of the triangle projective planum unit that will not be deformed upon and two adjacent plane units
Pair can accomplish that the folding to structure and expansion process accurately control；Only tool is even more reduced there are one the mechanism of rigid degree of freedom
Complexity structure expansion and folded；Whole to use optical drive, fast response time, holistic approach is simple, easy to process, can
It is very small to obtain structure design, it is very thin, and also quality is also very light.
Description of the drawings
It is described in further detail below in conjunction with attached drawing and embodiments of the present invention
Fig. 1 is the faces the A structural schematic diagram that the present invention is in folded state；
Fig. 2 is the faces the B structural schematic diagram that the present invention is in folded state；
Fig. 3 is the composite construction operation principle schematic diagram that rGO of the present invention and GO-PDA is constituted；
Fig. 4 is the faces the A structural schematic diagram of the single rectangular element unfolded state of the present invention；
Fig. 5 is the faces the B structural schematic diagram of the single rectangular element unfolded state of the present invention；
Fig. 6 is the structural schematic diagram that the single rectangular element of the present invention is in completely folded state；
Fig. 7 is the faces the A structural schematic diagram that the present invention is in unfolded state；
Fig. 8 is the faces the B structural schematic diagram that the present invention is in unfolded state；
Fig. 9 is the structural schematic diagram that the present invention is in completely folded state.
In figure label for：Rectangular element 1, the second photosensitive patch 22, composite construction upper layer 31, is answered at first photosensitive patch 21
Close structure bottom 32, small ball 33, center line S1, diagonal line S2 S3, boundary line S4.
Specific implementation mode
Referring to attached drawing.Origami structure described in the present embodiment is arranged in a combination by several rectangular elements 1, the rectangle
Unit is AB（It is positive and negative）The flake structure on two sides, rectangular element is symmetrical as boundary using center line S1, the folding line on rectangular element
Including the diagonal line S2 that intersects on center line S1 and the left and right sides S3, the diagonal line S2 of both sides S3 and rectangular element bottom edge
Isosceles triangle is formed, center line is exactly the height on bottom edge, and the boundary line S4 of adjacent two rectangular element is similarly folding line；Institute
The two sides AB for stating rectangular element is equipped with photosensitive patch, and photosensitive patch is rectangular list structure, and the first photosensitive patch 21 in the faces A is solid
It is scheduled on the diagonal line of both sides, and positioned at cornerwise centre position and is parallel to corresponding diagonal line, i.e., same rectangle list
Positive photosensitive patch is respectively parallel to both sides diagonal line in member so that when photosensitive patch bending, can drive diagonal line both sides
Uniformly fold；The second photosensitive patch 22 in the faces B is fixed on the boundary line of center line and adjacent two rectangular element, and is located at
The second photosensitive patch in the centre position of heart line and two rectangular element boundary lines, the faces B is vertical state, i.e., with center line,
Boundary line is parallel to each other.Diagonal line on rectangular element is paddy folding line, is diagonally bent towards the faces A, it is concave that diagonal line is located at the faces A
The bottom end gone；The boundary line of center line and adjacent two rectangular element is mountain folding line, is bent towards the faces B along center line and boundary line, in
Heart line and boundary line are located at the top of the faces A protrusion.
Origami structure described in the present embodiment can be completed with 3D printing technique, first print one layer of GO（Graphene oxide）'s
Then rectangular element prints GO-PDA in the positive and negative of rectangular element（The mixture of graphene oxide and poly-dopamine）The sense of layer
Light patch, puts it into HI（Hydroiodic acid）Middle washing makes the rectangular element of GO be reduced into rGO（Redox graphene）, finally
It is artificial to fold expected desired folding line.
As shown in figure 3, composite construction is polymerized by two rectangular list structures, the upper layer 31 in composite construction is rGO
（Redox graphene）, lower layer 32 is GO-PDA（The mixture of graphene oxide and poly-dopamine）, the small ball 33 of lower layer
For hydrone, when composite construction is in be not affected by illumination, it is in straightened condition；When composite construction is stimulated by illumination,
Lower layer's GO-PDA dehydrations are in flexuosity.The GO-PDA layers of photosensitive patch are made of hydrophilic GO and PDA pieces, it is to temperature
Degree variation is very sensitive, after temperature increases, GO-PDA layers of dehydration, to have good water absorbing capacity；When the temperature decreases,
GO-PDA layers of water suction, have good dehydration ability.In contrast, the rGO layers of rectangular element are hardly produced in the change of temperature
It is raw to influence.During variation of ambient temperature, exactly because the difference of water suction/dehydration ability, leads to the swollen of GO-PDA layers and rGO layers
It is swollen/to shrink mismatch so that GO-PDA layers of stereomutation, and interfacial stress is generated to cause the curved of whole composite construction
It is bent/not to be bent.
Therefore, the photosensitive patch of origami structure is in straightened condition when being not affected by illumination, when being stimulated by illumination,
Overall structure is driven to be bent to reverse side along the boundary line of center line and adjacent two rectangular element, while pair on the left and right sides
Linea angulata is bent to front, is shown as each rectangular element and is orderly turned down in the case where the bending of photosensitive patch drives, flat from a two dimension
Surface state is folded into three-dimensional state, when extraneous environmental light intensity changes, completes expansion and the folding movement of origami structure.
Claims (5)
1. a kind of origami structure based on optical drive autofolding, it is characterised in that：It is arranged in a combination by several rectangular elements,
The rectangular element is the flake structure with tow sides, and rectangular element is symmetrical by boundary of center line；The rectangle list
The positive and negative of member is equipped with photosensitive patch, and positive photosensitive patch is fixed on the diagonal line that the left and right sides is intersected, the sense of reverse side
Light patch is fixed on the boundary line of center line and adjacent two rectangular element；The photosensitive patch is under light illumination to away from rectangle
Unit side is bent, and drives overall structure to be bent to reverse side along the boundary line of center line and adjacent two rectangular element, while edge
Diagonal line on the left and right sides is bent to front.
2. a kind of origami structure based on optical drive autofolding as described in claim 1, it is characterised in that：The rectangular element
It is made of redox graphene, photosensitive patch is made of the mixture of graphene oxide and poly-dopamine.
3. a kind of origami structure based on optical drive autofolding as claimed in claim 2, it is characterised in that：The origami structure
Folding line include center line on rectangular element, the diagonal line intersected on the left and right sides and adjacent two rectangular element boundary line；
The photosensitive patch is fixed on the centre position of corresponding folding line, and is parallel to the folding line.
4. a kind of origami structure based on optical drive autofolding as described in claim 1, it is characterised in that：It is i.e. positive photosensitive
Patch is fixed on cornerwise centre position, and to be respectively parallel to both sides diagonal for positive photosensitive patch on same rectangular element
Line；The photosensitive patch of reverse side is fixed on the centre position of center line and two rectangular element boundary lines, and with center line, boundary line
It is parallel to each other.
5. a kind of origami structure based on optical drive autofolding as described in claim 1, it is characterised in that：Intensity of illumination changes
When, the photosensitive patch drives Integral rectangular unit to be converted between the stereoscopic-state of the flat state and folding that are fully deployed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810132594.XA CN108356809A (en) | 2018-02-09 | 2018-02-09 | A kind of origami structure based on optical drive autofolding |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810132594.XA CN108356809A (en) | 2018-02-09 | 2018-02-09 | A kind of origami structure based on optical drive autofolding |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108356809A true CN108356809A (en) | 2018-08-03 |
Family
ID=63005588
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810132594.XA Pending CN108356809A (en) | 2018-02-09 | 2018-02-09 | A kind of origami structure based on optical drive autofolding |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108356809A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111618892A (en) * | 2020-06-08 | 2020-09-04 | 鹏城实验室 | Reverse bending arm and S-shaped hook |
| CN114249891A (en) * | 2021-08-23 | 2022-03-29 | 南京大学深圳研究院 | Method for polymerizing dopamine monomer on DNA origami by light control |
| CN116419558A (en) * | 2023-06-09 | 2023-07-11 | 南京振微新材料科技有限公司 | Paper folding structure with switchable 5GHz communication state |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0988804A (en) * | 1995-09-25 | 1997-03-31 | Olympus Optical Co Ltd | Double-oriented shape memory actuator, manufacture thereof, and three-dimention actuator |
| WO2014043150A1 (en) * | 2012-09-17 | 2014-03-20 | Massachusetts Institute Of Technology | Foldable machines |
| CN104369181A (en) * | 2014-10-27 | 2015-02-25 | 南京理工大学 | Self-formed flexible robot driven by electric field |
| CN104399090A (en) * | 2014-11-12 | 2015-03-11 | 深圳先进技术研究院 | Poly dopamine-modified reduced graphene oxide and preparation method and application thereof |
| WO2015040583A1 (en) * | 2013-09-23 | 2015-03-26 | Ecole Polytechnique Federale De Lausanne (Epfl) | Facial rehabilitative device based on robogami (robotic origami) platform |
| CN104591162A (en) * | 2014-12-19 | 2015-05-06 | 东华大学 | Preparation method of multi-response graphene/graphite oxide film |
| EP2820311B1 (en) * | 2012-02-28 | 2016-12-07 | President and Fellows of Harvard College | Apparatus, system, and method for providing fabric-elastomer composites as pneumatic actuators |
| WO2017097720A1 (en) * | 2015-12-11 | 2017-06-15 | Commissariat A L'energie Atomique Et Aux Energies Alternatives | System for detecting stresses or strains, in particular for a touch skin |
-
2018
- 2018-02-09 CN CN201810132594.XA patent/CN108356809A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0988804A (en) * | 1995-09-25 | 1997-03-31 | Olympus Optical Co Ltd | Double-oriented shape memory actuator, manufacture thereof, and three-dimention actuator |
| EP2820311B1 (en) * | 2012-02-28 | 2016-12-07 | President and Fellows of Harvard College | Apparatus, system, and method for providing fabric-elastomer composites as pneumatic actuators |
| WO2014043150A1 (en) * | 2012-09-17 | 2014-03-20 | Massachusetts Institute Of Technology | Foldable machines |
| WO2015040583A1 (en) * | 2013-09-23 | 2015-03-26 | Ecole Polytechnique Federale De Lausanne (Epfl) | Facial rehabilitative device based on robogami (robotic origami) platform |
| CN104369181A (en) * | 2014-10-27 | 2015-02-25 | 南京理工大学 | Self-formed flexible robot driven by electric field |
| CN104399090A (en) * | 2014-11-12 | 2015-03-11 | 深圳先进技术研究院 | Poly dopamine-modified reduced graphene oxide and preparation method and application thereof |
| CN104591162A (en) * | 2014-12-19 | 2015-05-06 | 东华大学 | Preparation method of multi-response graphene/graphite oxide film |
| WO2017097720A1 (en) * | 2015-12-11 | 2017-06-15 | Commissariat A L'energie Atomique Et Aux Energies Alternatives | System for detecting stresses or strains, in particular for a touch skin |
Non-Patent Citations (1)
| Title |
|---|
| CAGDAS D. ONAL ET AL.: "An Origami-Inspired Approach to Worm Robots", 《IEEE/ASME TRANSACTIONS ON MECHATRONICS》 * |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111618892A (en) * | 2020-06-08 | 2020-09-04 | 鹏城实验室 | Reverse bending arm and S-shaped hook |
| WO2021248685A1 (en) * | 2020-06-08 | 2021-12-16 | 鹏城实验室 | Backwards curving arm and s-shaped hook |
| CN114249891A (en) * | 2021-08-23 | 2022-03-29 | 南京大学深圳研究院 | Method for polymerizing dopamine monomer on DNA origami by light control |
| CN116419558A (en) * | 2023-06-09 | 2023-07-11 | 南京振微新材料科技有限公司 | Paper folding structure with switchable 5GHz communication state |
| CN116419558B (en) * | 2023-06-09 | 2023-08-15 | 南京振微新材料科技有限公司 | Paper folding structure with switchable 5GHz communication state |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108274450A (en) | A kind of origami structure based on optical drive bending fold | |
| CN108356809A (en) | A kind of origami structure based on optical drive autofolding | |
| Fei et al. | A novel fabric-based versatile and stiffness-tunable soft gripper integrating soft pneumatic fingers and wrist | |
| US11618158B2 (en) | Climbing soft robotics | |
| CN108356810A (en) | A kind of origami structure based on electric drive autofolding | |
| Xiang et al. | Soft-smart robotic end effectors with sensing, actuation, and gripping capabilities | |
| Liu et al. | Three-dimensional printable origami twisted tower: Design, fabrication, and robot embodiment | |
| CN107902001B (en) | Differential soft robot | |
| US9464642B2 (en) | Soft robotic actuators | |
| Wang et al. | Ultrafast response and programmable locomotion of liquid/vapor/light-driven soft multifunctional actuators | |
| CN108274485A (en) | A kind of software finger, grabbing device and crawl control system | |
| CN205281137U (en) | Wrist -watch with scalable screen | |
| Zhao et al. | Soft robotics: Research, challenges, and prospects | |
| Tincani et al. | Implementation and control of the velvet fingers: a dexterous gripper with active surfaces | |
| Hu et al. | A torsion-bending antagonistic bistable actuator enables untethered crawling and swimming of miniature robots | |
| Sun et al. | A new electrostatic gripper for flexible handling of fabrics in automated garment manufacturing | |
| Liu et al. | Soft actuators built from cellulose paper: A review on actuation, material, fabrication, and applications | |
| Miyashita et al. | Self-pop-up cylindrical structure by global heating | |
| Shigemune et al. | Kirigami robot: Making paper robot using desktop cutting plotter and inkjet printer | |
| CN110421585A (en) | A kind of pneumatic software handgrip of electrostatic adsorption type | |
| Berger | Nanotechnology: the future is Tiny | |
| Wenguang et al. | A biomimetic fish finlet with a liquid metal soft sensor for proprioception and underwater sensing | |
| Yang et al. | Large deformation, high energy density dielectric elastomer actuators: Principles, factors, optimization, applications, and prospects | |
| Wang et al. | Advancements in Soft Robotics: A Comprehensive Review on Actuation Methods, Materials, and Applications | |
| CN106192452A (en) | A kind of preparation method of photic Transformable fabric |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20180803 |
|
| WD01 | Invention patent application deemed withdrawn after publication |