折紙工学を応用した軽量柔軟ロボットの開発

抄録

With the declining birthrate and aging population of society and the diversification of work styles, robot technology to cover the physical abilities of the elderly and women is required. The author examined actuators that apply the origami structure, which has been developed as a result of origami engineering in recent years, as a highly efficient artificial muscle suitable for robots with high affinity with humans and ultra-light flexible robots. As a result of the simulation of the artificial muscle, it was found that stable actuator operation characteristics without snap through buckling can be obtained by giving moderate spring characteristics in the folded portion of origami. Next, considering the flexibility of the robot using origami artificial muscle, by nonlinear matrix method analysis based on the relationship between actuator force- hand displacement, 2-dimensional motion of a 3-DOF flexible origami robot was we simulated. As a result, it was confirmed that it is possible to perform the operation along the target trajectory while keeping the robot hand horizontal.