Design Methodology for Constructing Multimaterial Origami Robots and Machines

Zhakypov, Zhenishbek; Paik, Jamie

doi:10.1109/tro.2017.2775655

Cited by 82 publications

(54 citation statements)

References 56 publications

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“…In addition to guiding deformation processes, stiffness patterns also have applications in the development of compliant mechanisms and soft robotics (36,37). In this scenario, stiffness gradients are designed to create objects that may exhibit complex deformation behavior and redistribution of forces in response to actuation forces.…”

Section: Stiffness Gradient Patterning and Applicationsmentioning

confidence: 99%

Additive manufacturing of cellulose-based materials with continuous, multidirectional stiffness gradients

et al. 2020

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Functionally graded materials (FGMs) enable applications in fields such as biomedicine and architecture, but their fabrication suffers from shortcomings in gradient continuity, interfacial bonding, and directional freedom. In addition, most commercial design software fail to incorporate property gradient data, hindering explorations of the design space of FGMs. Here, we leveraged a combined approach of materials engineering and digital processing to enable extrusion-based multimaterial additive manufacturing of cellulose-based tunable viscoelastic materials with continuous, high-contrast, and multidirectional stiffness gradients. A method to engineer sets of cellulosebased materials with similar compositions, yet distinct mechanical and rheological properties, was established. In parallel, a digital workflow was developed to embed gradient information into design models with integrated fabrication path planning. The payoff of integrating these physical and digital tools is the ability to achieve the same stiffness gradient in multiple ways, opening design possibilities previously limited by the rigid coupling of material and geometry.

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Section: Stiffness Gradient Patterning and Applicationsmentioning

confidence: 99%

Additive manufacturing of cellulose-based materials with continuous, multidirectional stiffness gradients

et al. 2020

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“…We propose a method to generate suction gripper multiple shape transformations by robotic origami and design the grip- per using the robotic origami (Robogami) design methodology, we presented in [16]. The method enables construction of structurally soft robots and mechanisms from discrete functional material layers for structural backing, flexible hinges, actuation etc, fabricated rapidly in 2-D and assembled by folding into 3-D. Our design method for achieving a high number of shape modes is well-applicable, not only to suction gripper designs, but also to many other origami-based reconfigurable designs, like manipulators or robotic fingers.…”

Section: A Problem Formulationmentioning

confidence: 99%

“…The bending motion can be induced by a bending actuator [23] placed in the same plane as the hinge or a compressing linear actuator across the hinge. The latter allows generating high moments with low linear strain [16], therefore favorable in our design.…”

Section: Folding Mechanisms Designmentioning

confidence: 99%

“…One prominent solution to the problem of reconfiguration and compliance lies in suction gripper morphology; multiple shapes of cross-sectional areas could effectively conform to object geometry and also create various stiffnesses associated with structural density [14]. Such metastructural and metamaterial behavior is the nature of robotic origami design [15,16], where rigid facets connected with flexible hinges generate desired 3-D shape configurations [17]- [19] by self-folding, and different stiffness modes by collapsing the structure [20], locking some of the hinges [21], or by means of variable stiffness material joints [10], theoretically with infinite degrees of freedom (DoF) [22].…”

Section: Introductionmentioning

confidence: 99%

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An Origami-Inspired Reconfigurable Suction Gripper for Picking Objects With Variable Shape and Size

Zhakypov

Heremans

Billard

et al. 2018

IEEE Robot. Autom. Lett.

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Gripper adaptability to handle objects of different shape and size brings high flexibility to manipulation. Gripping flat, round, or narrow objects poses challenges to even the most sophisticated robotic grippers. Among various gripper technologies, the vacuum suction grippers provide design simplicity, yet versatility at low cost, however, their application is limited to their fixed shape and size. Here, we present an origamiinspired reconfigurable suction gripper to address adaptability with robotic suction grippers. Constructed from rigid and soft components and driven by compact shape memory alloy actuators, the gripper can effectively self-fold into three shape modes to pick large and small flat, narrow cylindrical, triangular and spherical objects. The 10-g few centimeters gripper, lifts loads up to 5 N, 50 times its weight. We also present an underactuated prototype, demonstrating the versatility of our design and actuation methods.

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“…In Ref. 21, robotic origami was constructed from thin sheets of function material using rapid prototyping. The construction required a detailed study of 3D and 2D geometries, and 2D fabrication methods.…”

Section: Introductionmentioning

confidence: 99%

Robot Arm Structure Design Using Polyamide Evaluated by Finite Element Analysis

Kaitwanidvilai¹,

Buthgate²,

Aoyama³

et al. 2020

Sensors and Materials

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Robots have increasingly replaced humans for many jobs, including 24 h work, routine tasks, and dangerous jobs. However, the robot operating system has high power consumption in many processes. This has led to energy efficiency being the main focus. We have opted to build a robot with high strength, light weight, and low power consumption by reducing the weight of its components. Presently, we know that the structure of most robots in the world is made of metals, plastics, and composite materials. In this research, we designed the mechanical structure of robot arms with three different materials (cast iron, polyamide, and aluminum) using the finite element method to analyze and evaluate the possibilities of these materials. The dynamic load, power consumption, and mechanical characteristics were compared. It was found that polyamide could help lighten the weight by 40% and increase energy efficiency along with cost effectiveness by 41%. Although polyamide is particularly easy to find, cast iron is stronger than polyamide.

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Design Methodology for Constructing Multimaterial Origami Robots and Machines

Cited by 82 publications

References 56 publications

Additive manufacturing of cellulose-based materials with continuous, multidirectional stiffness gradients

Additive manufacturing of cellulose-based materials with continuous, multidirectional stiffness gradients

An Origami-Inspired Reconfigurable Suction Gripper for Picking Objects With Variable Shape and Size

Robot Arm Structure Design Using Polyamide Evaluated by Finite Element Analysis

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