A Kirigami-Inspired Transformable Robot.

This paper reports a novel kirigami-inspired transformable robot with the structure design and gait analysis. The transformation movement of this robot is inspired by the 10R thick panel kirigami model, which is based on the thick panel origami with cutting common crease lines proposed in our previous work. Due to the removal of common crease line, this kirigami robot can extend the range of movement and accomplish more missions. Based on the D-H notations, the kinematic model of the kirigami robot is established. Three kinds of robot gait are proposed, corresponding movement simulation and numerical results are discussed. The structure details are designed, and its prototype is fabricated by 3D printing. Furthermore, the experimental verification is carried out, which demonstrate that the kirigami robot can accomplish the transformable movement of gaits and traverse through the narrow and low-slung spaces.