Lithium−sulfur batteries (LSBs) hold a great potential as the next-generation electrochemical energy storage and conversion system owing to their high theoretical specific capacity (1675 mAh g-1). However, the shuttling of...
In this paper, the basic elements of Yoshimura origami patterns are extracted, a discrete splicing construction method to control the circumference of a tubular origami structure based on basic elements is created by summarizing morphological laws, and a construction function and a solution process for the Yoshimura origami pattern tubular structure based on a combination of the basic elements are proposed. A concrete form of the convex polygonal origami structure based on the Yoshimura origami pattern with different numbers of edges is designed by synthesizing the construction function and geometric constraints. This theoretical synthesis approach provides new ideas for the innovative design of origami robots, mechanical metamaterials, and energy-absorbing cushioned structures.
With improved flexible robot elongation rate, bending angle and movement flexibility in space target acquisition, disaster search and rescue, unknown environment detection and other fields, existing soft robots face challenges. Yoshimura tubular origami shows good application performance in axial expansion ratio. However, due to the characteristics of nonrigid folding and a negative Poisson's ratio, the axial elongation length and bending angle of the Yoshimura tubular origami mechanism are limited. Annelids show high flexibility in body movement. By analyzing the main factors limiting the axial elongation rate of the Yoshimura tubular origami mechanism and imitating the morphological characteristics and motion mechanism of annelid isomic joints, we proposed a method to achieve high flexibility and large angle bending of a tubular origami mechanism based on local material removal and macroscopic negative Poisson's ratio elimination. Combined with a nickel-titanium memory alloy wire segmented driving scheme based on force constraints and geometric constraints a continuous origami robot is designed. The optimal cutting amount of origami mechanism is determined by experiments, which makes the maximum elongation ratio and bending angle of origami mechanism reach 2.5 and 3 times of those before material removal respectively, and the paper folding module unit was solved in the kinematic analysis workspace. Finally, a prototype was used to verify the performance and demonstrate the application potential of the robot in an unstructured rescue scene.
The cylindroid describes the exact distribution of the ∞1 screw axes of the general two−system of screws. For the general three−system, this article introduces the surface on which lies the position vector endpoints of its ∞2 screw axes, and then develops the finite distribution zone in which they most densely distribute. In particular, this paper explores the inner structure of the zone by partitioning the general three−system into ∞1 two−subsystems, and then reveals the principle of constructing the distribution space of the general three−system by that of the general two−system in Euclidean three−space. In pursuit of a generalized decomposition method, we propose the varying−pitch ruled surface carrying the screws whose pitch value continuously varies according to any desired function rule, based on the pitch−hyperboloid carrying all the equal−pitch screws. This investigation provides some useful guides for the axode planning and then the motion planning of three degree−of−freedom parallel mechanisms.
scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.