Design and optimization of a novel multi-layer conical Kresling origami mechanism (MCKOM) for linear actuation

IF 4.5 1区 工程技术 Q1 ENGINEERING, MECHANICAL Mechanism and Machine Theory Pub Date : 2024-09-19 DOI:10.1016/j.mechmachtheory.2024.105796
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Abstract

To address the inevitable twisting issue of modular configurations with different morphological parameters, this paper takes conical Kresling units as the research object, and a novel multi-layer conical Kresling origami mechanism (MCKOM) for linear actuation is designed. The main body consists of m serially connected flat-foldable bistable units with the same chirality but different morphological parameters. The design objective of achieving pure linear actuation under torque drive is realized by introducing external systems. Kinematic coupling and inner product models are established and multi-objective optimization algorithms are employed to optimize the structure. Based on optimized values, simulation and experimental validation of the motion behavior are conducted using ABAQUS and prototypes. The results show that the total twist angle decreased by 10.076° and the inner product increased by 60,291.98 mm3. Furthermore, the crease vertices cutting eliminates the influence of internal pressure on the guiding plate's outward deviation and increases the folding ratio from 41.49 % to 48.88 % under experimental conditions. The proposed novel pure linear actuation mechanism can be applied in actuation scenarios that require the conversion of rotational motion into linear displacement.

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设计和优化用于线性驱动的新型多层锥形克瑞斯林折纸机构 (MCKOM)
为了解决形态参数不同的模块结构不可避免的扭曲问题,本文以锥形克瑞斯林单元为研究对象,设计了一种新型的线性致动多层锥形克瑞斯林折纸机构(MCKOM)。其主体由多个串联的平面可折叠双稳态单元组成,这些单元具有相同的手性,但形态参数不同。通过引入外部系统,实现了在扭矩驱动下实现纯线性致动的设计目标。建立了运动耦合和内积模型,并采用多目标优化算法对结构进行优化。在优化值的基础上,使用 ABAQUS 和原型对运动行为进行了仿真和实验验证。结果表明,总扭转角减少了 10.076°,内积增加了 60,291.98 mm3。此外,折痕顶点切割消除了内部压力对导向板向外偏差的影响,并将实验条件下的折叠率从 41.49 % 提高到 48.88 %。所提出的新型纯线性致动机构可应用于需要将旋转运动转换为线性位移的致动方案。
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来源期刊
Mechanism and Machine Theory
Mechanism and Machine Theory 工程技术-工程:机械
CiteScore
9.90
自引率
23.10%
发文量
450
审稿时长
20 days
期刊介绍: Mechanism and Machine Theory provides a medium of communication between engineers and scientists engaged in research and development within the fields of knowledge embraced by IFToMM, the International Federation for the Promotion of Mechanism and Machine Science, therefore affiliated with IFToMM as its official research journal. The main topics are: Design Theory and Methodology; Haptics and Human-Machine-Interfaces; Robotics, Mechatronics and Micro-Machines; Mechanisms, Mechanical Transmissions and Machines; Kinematics, Dynamics, and Control of Mechanical Systems; Applications to Bioengineering and Molecular Chemistry
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