A modular continuous robot constructed by Miura-derived origami tubes

Abstract

Folding a flat sheet under a specific crease pattern can form a three-dimensional origami tube, which has been proven to exhibit unique mechanical properties and has wide engineering applications. In this study, a novel Miura-derived origami tube is designed, and its precise circular closing condition and mechanical properties are systematically analyzed, revealing that the proposed origami tube has programmable stiffness characteristics. Polyvinyl chloride (PVC) sheet enables the origami tube to have the characteristics of flexibility, bending, compression, and torsion resistance. Then, a modular design strategy for the novel continuous robot constructed with the Miura-derived origami tube as the backbone is proposed. A continuous robot with three origami tube modules in series is designed and fabricated as a representative case. Three steel wires drive each module to achieve independent contraction or bending movement. The unified installation of steel wire-driven motors on the base endows the robot with a lightweight, interconnected inner space, high scalability, and flexibility backbone. The kinematic relationships among the driving space, configuration space, and task space are investigated by geometric model and constant curvature assumption, with the circular trajectory tracking and reachable workspace revealed by numerical simulations. Further, the kinematic decoupling or the multi-driving model based on the stiffness difference of the origami tube between multi-segments is discussed. Finally, three prototype experiments demonstrate both the rationality of introducing origami tubes to design the continuous robot and the application potential.