Finite element modeling of an origami-inspired delta mechanism with flexible components and joints

Abstract

Delta mechanism is one of the well-known parallel mechanisms used in robotic applications. In this study, the trajectory behavior of a novel Delta mechanism, which was designed and fabricated using layer-by-layer origami method, is investigated utilizing the finite element method (FEM). The mechanism was modeled with the dimensions of the actual fabricated mechanism. The mechanism consists of four different materials where properties of two materials are extracted experimentally via the tensile testing process. The accuracy of our model was compared to the finite element simulations and the results indicated that the mechanism follows the given trajectory within 0.05 normalized root-mean-square (RMS) error with respect to the kinematic model. The impact of the fabrication and instrumentation errors on the trajectory was further analyzed using FEM simulations and the contribution of each factor on the error was categorized. This validated numerical model can be used in the future to accurately simulate the mechanics of origami-inspired mechanisms and to design new mechanisms.

Configuration design and crease topology of origami-inspired spinning space deployable structures

“…17,18 However, most active origami-inspired investigations have developed about mechanical characteristics, material properties, and geometric deformation of spinning deployable structures. 19–21 Chen et al presented a computational method for automatically assigning mountain-valley fold lines to given geometric configurations of origami structures. 22 Lang et al presented new families of thick origami mechanisms that achieved rigid foldability and parallel stacking of panels in the flat-folded state.…”