For Real-Life Transformers, Mix Paper, Batteries and Origami

From This Paper Figures, tables, and topics from this paper. Using a deformable wheel is one of the ways to increase the mobility of a wheel drive robot. By clicking accept or continuing to use the site, you agree to the terms outlined in our Privacy Policy , Terms of Service , and Dataset License. Coil springs have low bending stiffness and relatively high torsional stiffness, so the shaft can be wound up on the pulley without twisting.

Thanks, Imre, for writing to us and we hope you find these instructions helpful! The communication module, cooling fan, and battery for the controller were placed on the head side, and the main controller and battery for the motors were placed on the carriage tail Fig.

For wheel fabrication, multimaterial patterning was adopted rather than single-material patterning. Published Online: After the glue dry you can open and close the ball. Draw some circles, the vertices, connected by lines, the edges. A previous study has presented a deformable wheel based on a soft material. The analysis of the wheel support is conducted similarly to the wheel hub analysis. Modelling of the waterbomb origami pattern and its applications. Actually it's not really a ball but it looks like a ball to me and because I don't know its real name I call it ball.

Because it has circular symmetry, the entire structure can be represented by the position of a point on two lines, which were named as line A and line B. The expectation comes from the assumption that the facets have infinite stiffness and the flexible part has zero stiffness, and therefore, the results cannot be perfectly matched with the theoretical expectation.

A mobility of mobile service robots in an unstructured environment becomes an important performance factor as the scope of applications increases from houses to disaster areas. Proc Nat Acad Sci ; The diameter of the wheel is varied by changing the length of the wheel in the direction of the axis. A transformable wheel robot with a passive leg Yu She , Carter J. A rotary origami protective system for robotic rotorcraft.

Large and heavy robots in the form of a four-wheel drive do not necessarily require the grouser.

Robots Get Flexible and Torqued Up With Origami Wheels - IEEE Spectrum

Volume 4 Issue 2 Jun Hoberman spheres transform in this colorful kinetic installation. Theoretically, n can be any number greater than or equal to three. Tentacles wiggle. The overall input energy was calculated by integrating the pushing force by the displacement from the initial state to the maximally enlarged state and dividing it by the total diameter variation.

The body structure was separated into two parts for assembly.