Design and Control of Waterbomb Robot

Transformable robot nowadays plays an important role in our society as its convenience and application. In this research, a new transformable robot that inspired from the origami pattern is transformable and portable: Waterbomb robot. Waterbomb is a traditional pattern in origami and is applied broadly in technology. This pattern is multiple degree of freedom, however, with symmetrical pattern, it reduces to one. This robot can change shapes between a box shape into 2D configuration by one action. Hence, only one motor is enough to transforming the different shapes of robot, then the robot satisfies the requirement of lightweight and portability. This paper solves the kinematic and dynamic problem of waterbomb linkages and robot’s motion is illustrated by MATLAB.