Design, Analysis, and Experiment of the Origami Robot Based on Spherical-Linkage Parallel Mechanism

Guan，Yuntao1; Zhuang，Zheming1; Zhang，Ze1; Dai，Jian S.1,2,3

2023-08-01

10.1115/1.4062497

Journal of Mechanical Design, Transactions of the ASME   影响因子和分区

1050-0472

1528-9001

Origami robot is a hotspot for research in the field of soft robot. However, there are still some major limitations to their application. This study proposed an origami robot based on spherical-linkage parallel mechanism (SLPM) for realizing some functions that cannot be accomplished by conventional robots. This study designed the manufacturing and assembling processes for the SLPM section according to the needs of practical applications, to explore the influence of flexible hinge on the resistance of SLPM section to lateral and torsional forces, the finite element simulation of SLPM section was performed, and the physical model of SLPM section was made to conduct a series of experiment. Also, an origami robot based on SLPM was also made, and the motion form of the robot was explored by ADAMS. At last, through establishing a mathematical model, the relationship for conversion between the two control modes of the robot was deduced. Based on this, an experiment on the bending angle of the robot was carried out, and the simulation results were compared. This paper will promote the research of origami robot in structure design, motion control, etc.

design design of machine elements design optimization flexible hinge kinematics origami robot parallel robots robot design robot kinematics simulation SLPM spring design springs structural optimization

SCI ; EI

英语

通讯

State Key Laboratory of Robotics[2019-O04];National Natural Science Foundation of China[51721003];National Natural Science Foundation of China[51875393];National Natural Science Foundation of China[51975401];

Engineering

Engineering, Mechanical

WOS:001021829100004

ASME

20232214166426

Kinematics ; Machine design ; Robots

Mechanical Design:601 ; Robotics:731.5 ; Optimization Techniques:921.5 ; Mechanics:931.1

ENGINEERING

2-s2.0-85160279887

Scopus

1.Key Laboratory of Mechanism Theory and Equipment Design of the Ministry of Education,Centre for Advanced Mechanisms and Robotics,Tianjin University,Tianjin,300350,China
2.Institute for Robotics,Southern University of Science and Technology,Shenzhen,518055,China
3.Centre for Robotics Research,King's College London,London,WC2R 2LS,United Kingdom

Guan，Yuntao,Zhuang，Zheming,Zhang，Ze,et al. Design, Analysis, and Experiment of the Origami Robot Based on Spherical-Linkage Parallel Mechanism[J]. Journal of Mechanical Design, Transactions of the ASME,2023,145(8).

Guan，Yuntao,Zhuang，Zheming,Zhang，Ze,&Dai，Jian S..(2023).Design, Analysis, and Experiment of the Origami Robot Based on Spherical-Linkage Parallel Mechanism.Journal of Mechanical Design, Transactions of the ASME,145(8).

Guan，Yuntao,et al."Design, Analysis, and Experiment of the Origami Robot Based on Spherical-Linkage Parallel Mechanism".Journal of Mechanical Design, Transactions of the ASME 145.8(2023).