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Abstract
Demands for small-scale and low-cost robots have witnessed a great increase in recent years [1–5]. This paper introduces the design and fabrication of a novel, simple, low-cost and designer-friendly locomotive robot. The materials and tools to build the robot originate from everyday life. The robot is pneumatically powered and manually controlled by simply pumping and vacuuming the syringe repeatedly, which realizes reliable locomotion by folding and opening of the planes. In order to realize this complicated motion, a “3D Sticky Actuator” is developed. The motion and force analysis of actuator are then modelled by the numerical method to develop the relations between design parameters. This suggests a systematic and user interactive way of manufacturing various shapes of the actuator, depending on user-defined road condition (e.g. obstacles and slopes) and other constraints. One key advantage of the paper-based robot is suggested by its high feasibility.
Highlights
Introduction tangible actuatorsThe robot features low-cost, and readily manufactured
Inspired by the folding and opening mechanism of Chinese hand-held fan in Figure 1, we introduce a paperbased locomotive robot (Figure 2), which accomplishes its reconfiguring folding process pneumatically with
The fabrication process of the “3D Sticky Actuator” is similar but more complicated compared to the “Sticky Actuator” [8]
Summary
The idea of robot’s design comes from the movement of the traditional fan, folding and unfolding, featuring reconfiguration. The angle between the top and the middle layer is 125 degrees (state 2). There is a counterbalance weight placed at the edge of the board, producing a gravitational moment for the whole system of robot to rotate. The robot returns to state 1 but has rotated 180 degrees and moved a distance equal to the length of one board theoretically. The top actuator, which has not been used during the previous process, becomes active and begins the whole process again This process becomes continuous, allowing to robot to move forward
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