Origami-Inspired Design of a Deployable Wheel - Ecole Nationale du Génie de l'Eau et de l'Environnement de Strasbourg Accéder directement au contenu
Communication Dans Un Congrès Année : 2020

Origami-Inspired Design of a Deployable Wheel

Résumé

In this paper, we introduce the design of a variable-diameter wheel for mobile robots. The goal is to improve maneuverability and crossing capacity of such robots by actively controlling the diameter of wheels. Origami patterns have been recently considered in robotics for the design of compliant and deployable structures. In our context, compliance can limit the load capacity of mobile robots. We then propose an origami-inspired design to benefit at the same time from the high deployability of origami patterns and the stiffness of articulated mechanisms. The proposed deployable wheel is based on a flasher structure. Kinematic architecture is determined to allow the transition from a flat configuration to a folded configuration for maximum deployability. The original arrangement of kinematic joints to get the flasher motions with a rigid-body mechanism is presented. In addition, an actuation mechanism is designed to control the wheel radius using a single actuator. Finally, design of peripheral shape is discussed to maintain proper rolling capacity. The implementation of the prototype is then presented with validation of kinematics properties.

Dates et versions

hal-03511491 , version 1 (17-03-2022)

Identifiants

Citer

John Berre, François Geiskopf, Lennart Rubbert, Pierre Renaud. Origami-Inspired Design of a Deployable Wheel. MTM andRobotics 2020, 2020, Timişoara, Romania. ⟨10.1007/978-3-030-60076-1_11⟩. ⟨hal-03511491⟩
24 Consultations
0 Téléchargements

Altmetric

Partager

Gmail Facebook X LinkedIn More