A reconfigurable crawling robot based on origami structure

In this report, drawing inspiration from the anchored motion gait of the inchworm and utilizing three types of deformable structures based on four-bar linkage, a reconfigurable soft crawling robot based on origami principles has been developed. This soft crawling robot possesses a single degree of freedom and is capable of performing various movements, including ground crawling, wall climbing, pole climbing, and rope climbing. Initially, a geometric analysis of the three deformable structures is conducted, alongside an examination of the anchored crawling gait. Subsequently, based on this analysis, the design of the crawling robot is formulated, and a physical model is constructed using poker cards. Furthermore, the relationships between the deformation angle θ and the lifting angle γ, as well as between the deformation angle θ and the lifting height h, are derived. Additionally, a CAD model is created using SolidWorks to facilitate further comparison and verification.