Paper mill robot is a kind of intelligent papermaking equipment with the ability of autonomous navigation,autonomous recognition,autonomous decision and autonomous operation. In order to improve the design flexibility of paper mill robot,this paper analyzed the walking mechanism of paper mill robot inchworm,combined with the origami structure,and designed the structure of paper folding soft inchworm robot based on 3D printing and silica gel release technology. The design method of this soft inchworm robot is analyzed,and the results show that:This method can effectively complete the structural design of the origami type soft inchworm robot and produce the soft inchworm robot. The running speed and acceleration change curves of the soft inchworm robot are very smooth and without inflection point,that is,the robot has high motion stability,and the greater the length of the strain layer,the greater the robot pose change. The greater the length of strain layer,the greater the variation of robot pose;There is a positive correlation between the number of folding units and the speed of the robot. The optimum strain layer length is 110mm and the optimum number of folds is 8.
关键词
造纸机器人/3D打印/硅胶脱模技术/软体尺蠖机器人/仿生运动
Key words
paper making robot/3D printing/silicone stripping technology/soft inchworm robot/bionic movement
维普
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