Design of a bidirectional rotational motion actuator by SMA with geometrico-static requirements

Hu, Kejun; Ouisse, Morvan; Rabenorosoa, Kanty

doi:10.1117/12.2612910

Cited by 2 publications

(2 citation statements)

References 34 publications

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“…A spring can increase the stroke while reducing the output force [15]. On the other hand, torsional actuators provide better potential for such structures according to the stroke requirement [48]. For instance, millimeter-sized bending SMAs can provide a BRM motion with ± 100 degrees [49], and two torsional SMAs can provide a BRM motion with a stroke up to ± 180 degrees in the similar scale [50].…”

Section: Simulation Resultsmentioning

confidence: 99%

Toward actuation of Kresling pattern-based origami robots

Hu¹,

Jeannin²,

Berre³

et al. 2022

Smart Mater. Struct.

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This work investigates the technical requirement for the actuation of the bi-directional rotational motion (BRM) of engineering-material-based non-rigid origami robots. While the vast majority of previously published results have focused on paper-based origami structures driven by translation-motion, polypropylene (PP) is implemented in this research to investigate its ability to respond to engineering requirements according to BRM. Following this objective, three experiments are proposed to identify the technical performances of PP-based origami and kirigami robots based on Kresling pattern. First, the stabilization test shows that two hundred full folding cycles are required to reach a repeatable mechanical response. Second, the BRM test characterizes the various mechanical performances of both origami and kirigami structure: the polypropylene(PP)-based origami outperforms existing structures in the literature. Third, the actuation test shows that the actuation mechanical requirements can be described using three key parameters: the required torque for folding, the shape-blocking stiffness, and the bistable portion. Finally, in order to support the development of PP-based origami/kirigami robots, a `Bar and Hinge' reduced-order model is implemented for the description of the nonlinear hysteretic behavior and bistability. This method constitutes a useful tool for the design of highly nonlinear/bistable engineering structures based on PP origami and kirigami.

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Section: Simulation Resultsmentioning

confidence: 99%

Toward actuation of Kresling pattern-based origami robots

Hu¹,

Jeannin²,

Berre³

et al. 2022

Smart Mater. Struct.

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“…21 2. a pair of 3D printed frames are designed to support the origami structure, according to the actuation strategy detailed in. 22 The lower part (see green part) functions as a fixture for the servomotor. It serves as the actuation mechanism while connecting the lower frame with a bearing frame, thus enabling bi-directional folding and deploying movements.…”

Section: Actuation Mechanism Fabricationmentioning

confidence: 99%

Actuation study of self-reconfigurable bistable robots based on Kresling tower

Hu,

Roux,

Marionnet

et al. 2024

Active and Passive Smart Structures and Integrated Systems XVIII

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Origami, an ancient Japanese paper art, has inspired diverse fields, leading to modern origami-inspired engineering, notably origami robots known for outstanding versatility across scales. Recent advancements in the field of origami robots have ushered in improved performance through the implementation of innovative actuation methods and the incorporation of non-rigid origami. The latter, known for its energy-efficient approach utilizing multi-stabilities, facilitates shape-changing and shape-locking. Nevertheless, non-rigid origami in robotics remains in its formative stages, marked by persistent challenges, notably the intricate task of achieving precise actuation while managing the bistability-reconfiguration trade-off. This article aims to develop a multifunctional mesoscale reconfigurable robot based on the Kresling tower pattern, characterized by advanced mechanical properties such as rapid shape-changing, shape-blocking capabilities, and adjustable structural behavior. To this end, we present the development of a polypropylene (PP)-based origami robot based on the 'Kresling' pattern. An in-body actuation mechanism is developed to facilitate the robot's bistable shape-changing capabilities. Furthermore, we provide a comprehensive mechanical performance assessment of the origami robot.

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Design of a bidirectional rotational motion actuator by SMA with geometrico-static requirements

Cited by 2 publications

References 34 publications

Toward actuation of Kresling pattern-based origami robots

Toward actuation of Kresling pattern-based origami robots

Actuation study of self-reconfigurable bistable robots based on Kresling tower

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