用可折叠拉链结构实现机器人模块的自适应形变与刚度调节。
ZipFold: Modular Actuators for Scaleable Adaptive Robots
- 通过3D打印柔性条带的复合折叠与拉链式展开，实现模块的可逆缩放与刚度变化。
- 单个模块可在紧凑（柔韧）与展开（类刚性）状态间连续平滑切换，支持多模块组合变形。
- 适用于需要动态适应环境的任务场景，如可重构机器人、柔性机械臂等。
当前对能够根据任务和环境变化形状、尺寸及力学特性的机器人需求日益增长。然而，现有可变形系统通常采用专用且不可扩展的机制，难以规模化、重新配置或跨应用迁移。本文提出一种紧凑、易制造的可展开致动器，通过柔性3D打印塑料条带的复合折叠与拉链式展开，形成方形截面的可展开梁，实现可逆的尺度与刚度变换。该简单驱动方式支持模块在紧凑（柔韧）与展开（准刚性）状态间平滑连续过渡，当多个模块组合为更大结构时，可实现多样化的形态与刚度调控。论文表征了致动器的力学性能，并展示了由四个模块组成的自适应行走机器人集成系统。
原文摘要 · Abstract (English)
There is a growing need for robots that can change their shape, size and mechanical properties to adapt to evolving tasks and environments. However, current shape-changing systems generally utilize bespoke, system-specific mechanisms that can be difficult to scale, reconfigure or translate from one application to another. This paper introduces a compact, easy-to-fabricate deployable actuator that achieves reversible scale and stiffness transformations through compound folding and zipping of flexible 3D-printed plastic strips into square-section deployable beams. The simple actuation method allows for smooth, continuous transitions between compact (flexible) and expanded (quasi-rigid) states, facilitating diverse shape and stiffness transformations when modules are combined into larger assemblies. The actuator's mechanical performance is characterized and an integrated system involving a four-module adaptive walking robot is demonstrated.
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