Magnetic-driven paper spring robot with omnidirectional bending and multiple motions

Abstract

The unique interlocking structure and the coupling of sheet elasticity make paper spring appear nonlinear stretch-twist coupling. It indicates this structural design can realize the reversible conversion between the rotary motion and the linear motion only by controlling the force and moment applied at the ends of the structure. And the spring overall exhibits an enhanced structural rigidity upon stretching. This mechanism of mode conversions and the mechanical response has a great application prospect. In this study, we construct and study a magnetic-driven paper spring robot, which realizes the functions of remotely actuated and autonomous deformation while ensuring the overall flexibility of the robot.