Design and Analysis of Thick Gripper Inspired by Origami

Wang Rugui; Huang Guibin; Mao Yi; Yu Yiyin

doi:10.16578/j.issn.1004.2539.2023.12.015

您当前的位置：

首页 >

文章列表页 >

Design and Analysis of Thick Gripper Inspired by Origami

Test·Analysis | 更新时间：2023-12-21

- Design and Analysis of Thick Gripper Inspired by Origami
- Journal of Mechanical Transmission Vol. 47, Issue 12, Pages: 103-110(2023)
- 作者机构：
  
  广西大学机械工程学院，广西南宁 530004
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2023.12.015
  CLC：
- Published：15 December 2023，
  
  Received：17 September 2022，
  
  Revised：16 November 2022，
扫描看全文
王汝贵,黄桂彬,毛毅等.由折纸启发的厚板夹爪设计及分析[J].机械传动,2023,47(12):103-110.

Wang Rugui,Huang Guibin,Mao Yi,et al.Design and Analysis of Thick Gripper Inspired by Origami[J].Journal of Mechanical Transmission,2023,47(12):103-110.
王汝贵,黄桂彬,毛毅等.由折纸启发的厚板夹爪设计及分析[J].机械传动,2023,47(12):103-110. DOI： 10.16578/j.issn.1004.2539.2023.12.015.

Wang Rugui,Huang Guibin,Mao Yi,et al.Design and Analysis of Thick Gripper Inspired by Origami[J].Journal of Mechanical Transmission,2023,47(12):103-110. DOI： 10.16578/j.issn.1004.2539.2023.12.015.

摘要

将折纸艺术与现代机构学相结合所得到的折纸机构广泛应用于空间结构领域，其独特的可展性、便捷性、轻量型和小型化一直以来都是研究热点。提出一种由折纸启发的厚板夹爪，并对其进行了设计分析。首先，把折纸与机构相结合对外形进行设计，利用单自由度的特点，解决其运动协调性和稳定性的问题；其次，对薄板夹爪模型进行运动学分析，探究其运动过程中转角、扭角及二面角之间的关系；最后，考虑到工程实际应用，对夹爪进行厚板化，并分析了输入角度与输出位移、夹持角度的关系。与传统夹爪不同，该夹爪具有结构简单、一体化程度高等特点，在兼顾灵活操作的同时具有可靠的运动性能，并且拥有在较小的输入角范围内输出较大夹持角度的能力。这为可展结构和夹爪的研究提供了重要思路和参考。

Abstract

The origami mechanism obtained by combining the origami art with the modern mechanism is widely used in the field of spatial structure

and its unique scalability

convenience

lightweight and miniaturization have always been research focuses. In this study

a thick plate clamping claw inspired by origami is proposed

and its design is analyzed. Firstly

the origami and mechanism are combined to design the shape

and the characteristics of a single degree of freedom are used to solve the problem of motion coordination and stability. Secondly

the kinematics of the thin gripper model is analyzed to explore the relation between the angle of rotation

twist angle and dihedral angle during its movement. Finally

considering the practical application of the project

the clamping jaws are thickened

and the relation between the input angle

the output displacement

and the clamping angle is analyzed. Different from the traditional gripper

the gripper has the characteristics of simple structure

high integration

and reliable movement performance

taking into consideration the flexible operation. It also has the ability to output a large clamping angle within a small input angle range. This study provides an important idea and reference for the research of deployable structure and grippers.

关键词

夹爪折纸厚板折纸运动学分析

Keywords

GripperOrigamiThick origamiKinematic analysis

references

冯慧娟，杨名远，姚国强，等.折纸机器人［J］.中国科学：技术科学，2018，48（12）：1259-1274.

FENG Huijuan，YANG Mingyuan，YAO Guoqiang，et al.Origami robots［J］.Scientia Sinica （Technologica），2018，48（12）：1259-1274.

TURNER N，GOODWINE B，SEN M.A review of origami applications in mechanical engineering［J］.Proceedings of the Institution of Mechanical Engineers，Part C：Journal of Mechanical Engineering Science，2016，230（14）：2345-2362.

TACHI T.Designing freeform origami tessellations by generalizing Resch's patterns［J］.Journal of Mechanical Design，2013，135（11）：111006.

江新阳，许勇，刘佳莉，等.折纸启发的折叠式柔性关节及步行机器人设计［J］.机械传动，2022，46（4）：106-116.

JIANG Xinyang，XU Yong，LIU Jiali，et al.Design of flexible joint and walking robot inspired by origami［J］.Journal of Mechanical Transmission，2022，46（4）：106-116.

WATANABE N，KAWAGUCHI K I.The method for judging rigid foldability［J］.Origami，2009（4）：165-174.

TACHI T，HULL T C.Self-foldability of rigid origami［J］.Journal of Mechanisms and Robotics，2017，9（2）：021008.

DAI J S，REES J J.Mobility in metamorphic mechanisms of foldable/erectable kinds［J］.ASME Journal of Mechanical Design，1999，121（3）：375-382.

EDMONDSON B J，LANG R J，MAGLEBY S P，et al.An offset panel technique for thick rigidly foldable origami［C］//International Design Engineering Technical Conferences and Computers and Information in Engineering Conference.ASME，2014，46377：V05BT08A054.

ALPERIN R C，LANG R J.One-，two-，and multi-fold origami axioms［J］.Origami，2009，4：371-393.

ZIRBEL S A，LANG R J，THOMSON M W，et al.Accommodating thickness in origami-based deployable arrays［J］.Journal of Mechanical Design，2013，135（11）：111005.

ZIRBEL S A，WILSON M E，MAGLEBY S P，et al.An origami-inspired self-deployable array［C］//Smart Materials，Adaptive Structures and Intelligent Systems.ASME，2013，56031：V001T01A026.

KU J S，DEMAINE E D.Folding flat crease patterns with thick materials［J］.Journal of Mechanisms and Robotics，2015，8（3）：031003.

KU J S，DEMAINE E D.Rigid folding analysis of offset crease thick folding［C］//Proceedings of IASS Annual Symposia.International Association for Shell and Spatial Structures （IASS），2016，2016（13）：1-8.

CHEN Y，PENG R，YOU Z.Origami of thick panels［J］.Science，2015，349（6246）：396-400.

SHAFER J.Origami ooh la la！Action origami for performance and play［M］.CreateSpace Independent Publishing Platform，2010：6-8.

EDMONDSON B J，BOWEN L A，GRAMES C L，et al.Oriceps：origami-inspired forceps［C］//Smart Materials，Adaptive Structures and Intelligent Systems.ASME，2013，56031：V001T01A027.

杨名远，马家耀，李建民，等.基于厚板折纸理论的微创手术钳［J］.机械工程学报，2018，54（17）：36-45.

YANG Mingyuan，MA Jiayao，LI Jianmin，et al.Thick-panel origami inspired forceps for minimally invasive surgery［J］.Journal of Mechanical Engineering，2018，54（17）：36-45.

MYARD F E.Contribution à la géométrie des systèmes articulés［J］.Bulletin de la Société Mathématique de France，1931，59：183-210.

BENNETT G T.A new mechanism［J］.Engineering，1903，76（12）：777-778.

BENNETT G T.The skew isogram mechanism［J］.Proceedings of the London Mathematical Society，1914，2（1）：151-173.

BEGGS J S.Advanced mechanism［M］.New York：Macmillan，1966：56-58.

DENAVIT J，HARTENBERG R S.A kinematic notation for lower pair mechanisms based on matrices［J］.Journal of Applied Mechanics-Transactions of the ASME，1955，22：215-221.

Views

下载量

CSCD

Alert me when the article has been cited

提交

Tools

Publicity Resources

Modeling and Simulation of Cuttlefish-imitating Underwater Sampling Manipulators

Kinematic Analysis of Industrial Robots Based on Conformal Geometric Algebra

Design and Kinetic Analysis of the Parallel Mechanism for Sorting and Transmitting of Automobile Parts

Design and Analysis of a Parallel Mechanism for Circular Spherical Translation and One-dimensional Rotation

Structural Design of Catenary Equipment Inspection Robots

Related Author

Zeng Qineng

Yang Zehui

Zhang Xuehai

Wei Yaxin

Ren Simin

Xu Guipeng

Wei Mengdi

Yu Yang

Related Institution

Huadian Heavy Industries Co., Ltd.

College of Mechanical Engineering, Xi'an University of Science and Technology, Xi´an

Center for Modern Mechanisms Theory, Changzhou University

East China Jiaotong University

School of Advanced Manufacturing, Nanchang University

⁰