用剪纸结构设计可变形机器人，实现轻量化与多功能集成
Tailoring materials into kirigami robots
- 通过优化剪切图案定制机器人的执行器、传感器等部件
- 剪纸结构可在小力作用下实现复杂运动与形状变化
- 适合柔性机器人、可穿戴设备等需要轻便适应性的场景
剪纸艺术（Kirigami）具有革新机器人技术的巨大潜力，可提供多功能、轻量化且可适应的解决方案。其以弯曲为主导的变形特性具备抗拉能力，并能在微小驱动力下实现形态变化。通过优化剪切图案，可将执行器、传感器、电池、控制器及主体结构等组件针对性地应用于特定机器人任务。基于剪纸原理的执行器能通过多种能源实现可编程的复杂运动，剪纸传感器则连接了电导性与柔韧性。集成剪纸结构的电池可直接嵌入机器人本体，提升灵活性与紧凑性。剪纸控制的机械装置可模拟机械计算，实现形状重构与记忆功能。应用包括抓取、移动和可穿戴设备，展现出在多样环境与任务中的适应性。尽管前景广阔，剪切图案设计与制造工艺仍面临挑战。
原文摘要 · Abstract (English)
Kirigami, the traditional paper-cutting craft, holds immense potential for revolutionizing robotics by providing multifunctional, lightweight, and adaptable solutions. Kirigami structures, characterized by their bending-dominated deformation, offer resilience to tensile forces and facilitate shape morphing under small actuation forces. Kirigami components such as actuators, sensors, batteries, controllers, and body structures can be tailored to specific robotic applications by optimizing cut patterns. Actuators based on kirigami principles exhibit complex motions programmable through various energy sources, while kirigami sensors bridge the gap between electrical conductivity and compliance. Kirigami-integrated batteries enable energy storage directly within robot structures, enhancing flexibility and compactness. Kirigami-controlled mechanisms mimic mechanical computations, enabling advanced functionalities such as shape morphing and memory functions. Applications of kirigami-enabled robots include grasping, locomotion, and wearables, showcasing their adaptability to diverse environments and tasks. Despite promising opportunities, challenges remain in the design of cut patterns for a given function and streamlining fabrication techniques.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。