用弹性带驱动自折叠3D打印机器人，集成传感与执行模块。
3D Printing of Passively Actuated Self-Folding Robots with Integrated Functional Modules
- 通过印刷钩子引导弹性带储能，实现无外部刺激的自折叠。
- 实验验证折叠模型，设计图谱可预测目标折角。
- 适合快速原型、柔性机器人及可重构系统研究者使用。
我们提出一种弹性驱动自折叠方法，直接从平坦的3D打印导电PLA网状结构制造机器人。穿过印刷钩子的弹性带储存能量，将平面结构折叠成预定的3D几何形态，同时平坦状态便于预先精准放置电子元件和磁体。同一基底兼具电容触控电极功能，并支持可重复使用的平台输入/输出模块，集成霍尔传感器与偏心旋转质量（ERM）电机，用于对接检测与振动激励。我们推导出闭式折叠模型，平衡铰链刚度与弹性带力矩以预测平衡折角；实验验证该模型并生成设计图谱，明确铰链厚度、弹性带尺寸与钩子间距对目标角度的影响。基于此流程，我们实现了多个多面体模块，并展示三种应用：可扩展的模块化机器人集体立方体、可展开夹持器及肌腱驱动手指。该方法成本低、无需外部刺激，集成了驱动与传感功能。
原文摘要 · Abstract (English)
We introduce an elastic-driven self-folding approach that fabricates robots directly from flat 3D-printed conductive PLA nets. Elastic bands routed through printed hooks store energy that folds the sheet into programmed 3D geometries, while the flat state allows accurate placement of electronics and magnets before deployment. The same substrate doubles as electrodes for capacitive touch and supports a reusable platform I/O palette with Hall sensors and eccentric rotating mass (ERM) motors for docking detection and vibration actuation. We also derive a closed-form folding model that balances hinge stiffness with elastic band moment to predict equilibrium fold angles; experiments validate the model and yield a design map linking hinge thickness, band size, and hook spacing to target angles. Using this workflow we realize multiple polyhedral modules and demonstrate three applications: a cube that highlights the potential of self-folding for scalable modular robot collectives, a deployable gripper, and a tendon-driven finger. The method is low cost, stimulus-free, and integrates actuation and sensing.
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。