Hostname: page-component-586b7cd67f-t7czq Total loading time: 0 Render date: 2024-11-22T09:34:23.328Z Has data issue: false hasContentIssue false
  • English
  • Français

Design and analysis of an origami-based three-finger manipulator

Published online by Cambridge University Press:  07 September 2017

Donghwa Jeong  and
Kiju Lee
Donghwa Jeong
Affiliation:
Department of Mechanical and Aerospace Engineering, Case Western Reserve University, Cleveland, 44106 Ohio, USA. E-mail: [email protected]
Kiju Lee*
Affiliation:
Department of Mechanical and Aerospace Engineering, Case Western Reserve University, Cleveland, 44106 Ohio, USA. E-mail: [email protected]
*
*Corresponding author. E-mail: [email protected]
Rights & Permissions [Opens in a new window]

Summary

Core share and HTML view are not available for this content. However, as you have access to this content, a full PDF is available via the ‘Save PDF’ action button.

This paper describes a new robotic manipulator with three fingers based on an origami twisted tower design. The design specifications, kinematic description, and results from the stiffness and durability tests for the selected origami design are presented. The robotic arm is made of a 10-layer twisted tower, actuated by four cables with pulleys driven by servo motors. Each finger is made of a smaller 11-layer tower and uses a single cable directly attached to a servo motor. The current hardware setup supports vision-based autonomous control and internet-based remote control in real time. For preliminary evaluation of the robot's object manipulation capabilities, arbitrary objects with varying weights, sizes, and shapes (i.e., a shuttlecock, an egg shell, a paper cub, and a cubic block) were selected and the rate of successful grasping and lifting for each object was measured. In addition, an experiment comparing a rigid gripper and the new origami-based manipulator revealed that the origami structure in the fingers absorbs the excessive force applied to the object through force distribution and structural deformation, demonstrating its potential applications for effective manipulation of fragile objects.

Keywords

Origami robotRobotic manipulatorManipulator designManipulator kinematics
Type
Articles
Information
Robotica , Volume 36 , Issue 2 , February 2018 , pp. 261 - 274
Copyright
Copyright © Cambridge University Press 2017 

References

1. VanderHoff, E., Jeong, D. and Lee, K., “OrigamiBot-I: A Thread-Actuated Origami Robot for Manipulation and Locomoti on,” Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1421–1426, Chicago, IL, USA, Sep. 14–18, 2014.Google Scholar
2. Tachi, T., “3D Origami Design based on Tucking Molecule,” Proceedings of the 4th International Conference on Origami in Science, Mathematics, and Education, pp. 259–272, Pasadena, CA, Sep. 8–10, 2006.Google Scholar
3. Wu, W. and You, Z., “Modeling rigid origami with quternions and dual quaternions,” Proceedings of the Royal Society A: Mathematical, Physical and Engineering Science, 466, 2155–2174, 2010.CrossRefGoogle Scholar
4. Hawkes, E., An, B., Tanaka, N. M., Kim, S., Demaine, E. D., Rus, D., and Wood, R. J., “Programmable matter by folding,” Proceedings of the National Academy of Science of the United States of America, 107 (28), 12441–12445 (2010).Google Scholar
5. Jackson, P., “Folding Techniques for Designers: From Sheet to Form,” Pap/Cdr. Laurence King Publishers (2011).Google Scholar
6. Schenk, M. and Guest, S. D., “Origami Folding: A Structural Engineering Approach,” Proceedings of the 5th International Meeting of Origami Science, Mathematics, and Education, pp. 291–304, CRC Press, Boca Ranton, FL, 2011.Google Scholar
7. Temmerman, N. De., Mollaert, M., Van Mele, T. and De Laet, L., “Design and analysis of a foldable mobile shelter system,” Int. J. Space Struct. 22 (3), 161–168 (2007).Google Scholar
8. Ma, J. and You, Z., “The Origami Crash Box,” Proceedings of the 5th International Meeting of Origami Science, Mathematics, and Education, pp. 277–290, CRC Press, Boca Ranton, FL, 2011.Google Scholar
9. Okuzaki, H., Saido, T., Suzuki, H., Hara, Y., and Yan, H., “A Biomorphic Origami Actuator Fabricated by Folding a Conducting Paper,” Journal of Physics: Conference Series, 127 (1): p. 012001, IOP Publishing, 2008.Google Scholar
10. Martinez, R. V., Fish, C. R., Chen, X., and Whitesides, G. M., “Elastomeric origami: Programmable paper-elastomer composites as pneumatic actuators,” Advanced Functional Materials, 22 (7): 1376–1384 (2012).CrossRefGoogle Scholar
11. Min, C. C. and Suzuki, H., “Geometrical Properties of Paper Spring,” Manufacturing Systems and Technologies for New Frontier, pp. 159–162 (2008).Google Scholar
12. Onal, C. D., Wood, R. J. and Rus, D., “Towards Printable Robotics: Origami-Inspired Planar Fabrication of Three-Dimensional Mechanisms,” Proceedings of the IEEE International Conference on Robotics and Automation, pp. 4608–4612, Shanghai, China, May 9–13, (2011) pp. 4608–4613.Google Scholar
13. Lee, D. Y., Jung, G. P., Sin, M. K., Ahn, S. H., and Cho, K. J., “Deformable Wheel Robot Based on Origami Structure,” Proceedings of the IEEE ICRA Google Scholar
14. Jeong, D. and Lee, K., “An Amphibious Robot with Reconfigurable Origami Wheels for Locomotion in Dynamic Environment,” Proceedings of International Mechanical Engineering Congress & Exposition, Houston, TX, Nov. 13–19, 2015.CrossRefGoogle Scholar
15. Koh, J. and Cho, K., “Omegabot: Biomimetic Inchworm Robot Using SMA Coil Actuator and Smart Composite Microstructures (SCM),” Proceedings of the IEEE International Conference on Robotics and Biomimetics, pp. 1154–1158, Guilin, China, Dec. 18–22, 2009.Google Scholar
16. Calisti, M., Giorelli, M., Levy, G., Mazzolai, B., Hochner, B., Laschi, C. and Dario, P., “An octopus-bioinspired solution to movement and manipulation for soft robots,” Bioinsp. Biomim. 6 (3): 036002 (2011).Google Scholar
17. Cianchetti, M., Follador, M., Mazzolai, B., Dario, P. and Laschi, C., “Design and Development of a Soft Robotic Octopus Arm Exploiting Embodied Intelligence,” Proceedings of the IEEE International Conference on Robotics and Automation, pp. 5271–5276, Saint Paul, Minnesota, USA, May 14–18, 2012.Google Scholar
18. Li, C. and Rahn, C. D., “Design of continuous backbone and cable driven robots,” Journal of Mechanical Design, 124 (2): 265–271 (2002).CrossRefGoogle Scholar
19. Hannan, M. and Walker, I. D., “Kinematics and the implementation of an elephant's trunk manipulator and other continuum style robots,” Journal of Field Robotics, 20 (2): 45–63.Google Scholar
20. McMahan, W., Pritts, M., Chitrakara, V., Dienno, D., Jones, B., Grissom, M., Csencsits, M., Iyengar, V., Walker, I. D., Rahn, C. D. and Dawson, D., “Design and Experimental Testing of the OctArm Soft Robot Manipulator,” SPIE Defense and Security Symposium, Orlando, FL, April 18–20, 2006.Google Scholar
21. Felton, S., Tolley, M., Demaine, E., Rus, D., and Wood, R., “A method for building self-folding machines,” Science 345 (6197), 644–646 (2014).Google Scholar
22. Cheng, N. G., Lobovsky, M. B., Keating, S. J., Setapen, A. M., Gero, K. I., Hosoi, A. E., and Iagemma, K. D., “Design and Analysis of a Robust, Low-Cost, Highly Articulated Manipulator Enabled by Jamming of Granular Media,” Proceedings of the IEEE International Conference on Robotics and Automation, Saint Paul, Minnesota, USA, May 14–18, 2012.Google Scholar
23. Balkcom, D. J. and Mason, M. T., “Robotic origami folding,” International Journal of Robotics Research, 27 (5): 613–627 (2008).CrossRefGoogle Scholar