基于电液作动器扭转运动的软折纸三脚架

IF 4.9 3区工程技术 Q2 ENGINEERING, ELECTRICAL & ELECTRONIC

Sensors and Actuators A-physical Pub Date : 2025-06-18 DOI:10.1016/j.sna.2025.116814

Sohyun Kim , Joohyeon Kang , Seunghoon Yoo , Youngsu Cha

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引用次数: 0

摘要

扭转运动是必不可少的，它的基本作用，使有效的对象操纵。基于这一特点，本研究提出了一种新型的柔性折纸三脚架，该三脚架采用电液作动器进行扭转运动。软折纸三脚架由三个平行的克雷斯林图案支架和电液执行器连接而成的折纸关节结构组成。该驱动器在外加电压作用下瞬间膨胀，诱导出折纸关节结构的展开机制。根据图案确定的轨迹设计折纸关节结构，使三脚架稳定地实现了伸转相结合的螺旋扭转运动。在输入电压为10 kV时，三脚架的最大线性应变为265 %，最大旋转角度为69°。提出了几何和运动学数学模型来分析三脚架的运动。通过实验验证了该模型，建立了应变与角度之间的关系，并对力学性能进行了预测。此外，我们还进行了一系列的实验来研究三脚架的连续和稳定的扭转运动。

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Soft origami tripod based on electrohydraulic actuator for twisting motion

The twisting motion is essential for its fundamental role in enabling efficient object manipulation. Motivated by this feature, this study proposes a novel soft origami tripod capable of twisting motion using electrohydraulic actuators. The soft origami tripod consists of an origami joint structure connected by three parallel Kresling pattern-supporters and electrohydraulic actuators. The actuator inflates instantaneously by an applied voltage and induces the deployment mechanism of the origami joint structure. By designing the origami joint structure according to the trajectory determined by the pattern, the proposed tripod stably achieves a helical twisting motion combining extension and rotation. At an input voltage of 10 kV, the tripod can accomplish a maximum linear strain of 265 % and a maximum rotation angle of 69°. Geometrical and kinematic mathematical models are presented to analyze the motion of the tripod. The model is experimentally validated to establish a relationship between strain and angle and to predict mechanical performances. Additionally, we conduct a series of experiments to investigate the continuous and stable twisting motion of the tripod.

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来源期刊

Sensors and Actuators A-physical 工程技术-工程：电子与电气

CiteScore

8.10

自引率

6.50%

发文量

630

审稿时长

49 days

期刊介绍： Sensors and Actuators A: Physical brings together multidisciplinary interests in one journal entirely devoted to disseminating information on all aspects of research and development of solid-state devices for transducing physical signals. Sensors and Actuators A: Physical regularly publishes original papers, letters to the Editors and from time to time invited review articles within the following device areas: • Fundamentals and Physics, such as: classification of effects, physical effects, measurement theory, modelling of sensors, measurement standards, measurement errors, units and constants, time and frequency measurement. Modeling papers should bring new modeling techniques to the field and be supported by experimental results. • Materials and their Processing, such as: piezoelectric materials, polymers, metal oxides, III-V and II-VI semiconductors, thick and thin films, optical glass fibres, amorphous, polycrystalline and monocrystalline silicon. • Optoelectronic sensors, such as: photovoltaic diodes, photoconductors, photodiodes, phototransistors, positron-sensitive photodetectors, optoisolators, photodiode arrays, charge-coupled devices, light-emitting diodes, injection lasers and liquid-crystal displays. • Mechanical sensors, such as: metallic, thin-film and semiconductor strain gauges, diffused silicon pressure sensors, silicon accelerometers, solid-state displacement transducers, piezo junction devices, piezoelectric field-effect transducers (PiFETs), tunnel-diode strain sensors, surface acoustic wave devices, silicon micromechanical switches, solid-state flow meters and electronic flow controllers. Etc...