首个可折叠展开的宏观静电旋转电机，实现高效连续转动。
Macro-Scale Electrostatic Origami Motor
- 利用电晕放电产生扭矩，实现宏观尺度下的折叠旋转运动。
- 展开比达2.5:1，最高转速1440 rpm，输出扭矩超0.15 mN·m。
- 适合需要轻量化、可折叠驱动的机器人系统设计者参考。
可折叠机器人因高体积质量比、易收纳和形态适应性成为机器人研究热点。此前的可折叠机器人通常在结构中嵌入线性执行器或附加非折叠的旋转电机来实现移动。然而，这些嵌入式执行器仅能产生直线或折叠运动，无法实现连续旋转。在宏观尺度上，尚无具备折叠功能的连续旋转执行器。本文详细介绍了首个可折叠并展开运行的宏观尺度折纸式旋转电机的设计与测试。该电机利用电晕放电产生扭矩，原型机展开比达2.5:1，在-29 kV驱动下达到1440 rpm的最高转速，最大输出扭矩超过0.15 mN·m，主动部件扭矩密度为0.04 Nm/kg。
原文摘要 · Abstract (English)
Foldable robots have been an active area of robotics research due to their high volume-to-mass ratio, easy packability, and shape adaptability. For locomotion, previously developed foldable robots have either embedded linear actuators in, or attached non-folding rotary motors to, their structure. Further, those actuators directly embedded in the structure of the folding medium all contributed to linear or folding motion, not to continuous rotary motion. On the macro-scale there has not yet been a folding continuous rotary actuator. This paper details the development and testing of the first macro-scale origami rotary motor that can be folded flat, and then unfurled to operate. Using corona discharge for torque production, the prototype motor achieved an expansion ratio of 2.5:1, reached a top speed of 1440 rpm when driven at -29 kV, and exhibited a maximum output torque over 0.15 mN m with an active component torque density of 0.04 Nm/kg.
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