Finite Element Modeling of Rigid-Flex PCB Origami Robotics Subjected to Large-Scale Deformations

Rigid-flex PCB robotics have been investigated for exploring planetary terrain currently inaccessible to traditional aluminum body rovers. In order to push the technology to flightreadiness, there must be rigorous methodologies for modeling these structures. This paper presents a modeling methodology for rigid-flex PCB robots subjected to large deformations, failure criteria for each component of the robot (PCB, Nomex hinges, flex cable), validation with drop testing of the rigid-flex PCB robot PUFFER, and an application of the method to assess survivability under Lunar impact scenarios. A numerically stable and computationally efficient model of rigid-flex PCB robotics was permitted by using a combination of preexisting element types and a hyperelastic material model for the flexible hinges.