受潮虫启发的可变形结构，能滚动和展开，用于爬坡和直线移动。
A Pillbug-Inspired Morphing Mechanism Covered with Sliding Shells
- 用滑块连杆机构模拟潮虫卷曲与展开动作
- 单自由度设计，通过剪刀结构实现稳定形态变化
- 可变形机器人兼具滚动与轮动两种模式，适合复杂地形
本研究提出一种受潮虫运动启发的新型可变形结构，采用基于滑块-连杆机构的环状耦合机制，实现卷曲与展开动作。该机制精确复现潮虫形态变化中的三种典型曲线。为将自由度降至1，引入剪刀结构。三维曲面外壳被安装在运动轨迹点上，既保护内部结构又支持滚动。通过类型与尺寸综合设计，构建了包含外壳与变形机构的完整系统。3D模型验证了其形变能力。最终开发出双模式机器人：可蜷缩滚动下坡，亦可展开通过轮子直线前进。
原文摘要 · Abstract (English)
This research proposes a novel morphing structure with shells inspired by the movement of pillbugs. Instead of the pillbug body, a loopcoupled mechanism based on slider-crank mechanisms is utilized to achieve the rolling up and spreading motion. This mechanism precisely imitates three distinct curves that mimic the shape morphing of a pillbug. To decrease the degree-of-freedom (DOF) of the mechanism to one, scissor mechanisms are added. 3D curved shells are then attached to the tracer points of the morphing mechanism to safeguard it from attacks while allowing it to roll. Through type and dimensional synthesis, a complete system that includes shells and an underlying morphing mechanism is developed. A 3D model is created and tested to demonstrate the proposed system's shape-changing capability. Lastly, a robot with two modes is developed based on the proposed mechanism, which can curl up to roll down hills and can spread to move in a straight line via wheels.
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