Design, Manufacturing, and Experiments of an Origami-based Parallel-Legged Structure for Insect-scale Robots

Abstract

Aiming to address the challenges associated with complex manufacturing processes and the difficulties in batch production of insect-scale robots. A mechatronic origami mechanism applied to an insect-scale parallel-legged structure is designed, manufactured, and tested. The origami mechanism is constructed using a multilayer composite laminate, which allows for the integrated fabrication of robotic hinges, linkages, and actuators. Utilizing the origami mechanism, it becomes feasible to fold and create the insect-scale parallel-legged structure. This enables the rapid assembly of various types of insect-scale robots, including monopods, bipedal robots, quadrupeds, and hexapods. We built the experimental prototype and test environments to validate the kinematic performance of the insect-scale parallel-legged structure. The monopod robot, weighing 200 mg and featuring the parallel leg, possesses the ability to rotate around the center of an adaptive rotating platform at a speed of 5 cm/s. The bipedal robot demonstrates the ability to navigate the rotating platform by performing alternating leg swings. The quadrupedal robot, designed with four parallel-legged structures, exhibited a movement speed of 1.9 cm/s when actuated at a frequency of 20 Hz. In contrast, the hexapod robot achieved a superior speed of 3.25 cm/s under the same actuation frequency of 20 Hz. The origami mechanism and the insect-scale parallel-legged structure provide a new method for the design and fabrication of insect-scale robots.