Macro-Scale Electrostatic Origami Motor

TL;DR

This paper introduces the first macro-scale origami rotary motor that can be folded flat and unfurled to operate, utilizing corona discharge for torque, achieving notable speed and torque outputs.

Contribution

It presents a novel macro-scale origami rotary motor design that is foldable and powered by corona discharge, enabling continuous rotary motion at the macro-scale.

Findings

Achieved a 2.5:1 expansion ratio.

Reached a top speed of 1440 rpm at -29 kV.

Maximum output torque over 0.15 mN·m.

Abstract

Foldable robots have been an active area of robotics research due to their high volume-to-mass ratio, easy packability, and shape adaptability. For locomotion, previously developed foldable robots have either embedded linear actuators in, or attached non-folding rotary motors to, their structure. Further, those actuators directly embedded in the structure of the folding medium all contributed to linear or folding motion, not to continuous rotary motion. On the macro-scale there has not yet been a folding continuous rotary actuator. This paper details the development and testing of the first macro-scale origami rotary motor that can be folded flat, and then unfurled to operate. Using corona discharge for torque production, the prototype motor achieved an expansion ratio of 2.5:1, reached a top speed of 1440 rpm when driven at -29 kV, and exhibited a maximum output torque over 0.15 mN m with an active component torque density of 0.04 Nm/kg.