부산대학교 도서관

This paper proposes a novel swimming robot with waterbomb origami wheel. The wheel of the swimming robot is a waterbomb origami that acts like a paddle blade. The origami wheel provides a new propulsion way for the swimming vehicle. The propulsion principle is to use the water flow to push the origami structure like the blade to propel it move forward. The analytical model describing the mechanical behavior of the origami wheel was built to illustrate the superior swimming characteristics of the robot. The model uncovers propulsive force variation with respect to origami structure parameters. The prototypes of the swimming robot are manufactured to analyze the influence of the structural parameters on their performances such as swimming speed, steering, and propulsive force. The analysis results showed that the proposed swimming robot has advantages such as high propulsion force and fast response. Meanwhile, it provides a guideline for the structural design of the origami wheel that enables it to be suitable to swim in the water. In a word, the origami wheel provides a light and efficient propulsion for swimming vehicles. The origami wheel provides a novel and simple propulsion way for swimming vehicles, and the structure promotes the development of a new class of swimming vehicles.