Tunable dynamics in Yoshimura origami by harnessing pneumatic pressure

Zhang, Qiwei; Fang, Hongbin; Xu, Jian

doi:10.1016/j.jsv.2022.117407

Cited by 17 publications

(3 citation statements)

References 58 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Origami structures made of thin sheet material offer a promising remedy to the above two challenges [6][7][8][9][10]. Thanks to conceptual simplicity and the absence of complicated assembly, origami structures have been widely and innovatively applied in practical engineering, including metamaterials [11][12][13], energy absorption/buffering structures [14][15][16], robots [17][18][19], architectures [20][21][22], robot grippers [23][24][25], and to name only a few. The origami structure's coexisting structural properties of flexibility and rigidity provide it with an inherent superiority when applied to flexible robot grippers [26][27][28].…”

Section: Introductionmentioning

confidence: 99%

Nonlinear topology optimization design and gripping tests of a novel origami chomper-based flexible gripper

Liu

Chen

Wen

et al. 2023

Preprint

View full text Add to dashboard Cite

Although the flexible origami gripper can handle a wide range of objects, there is a need for significant further improvement in its gripping performance. This study develops a novel nonlinear topology optimization (NTO) method to enhance the gripping performance of an origami chomper-based flexible gripper. The proposed NTO method incorporates the additive hyperelasticity technique and multi-resolution design (MRD) strategy with the advantages of being computationally efficient, having excellent convergence, and enabling refined design. The effectiveness of the proposed NTO method is validated by two compliant mechanism benchmark examples, i.e., the displacement inverter and gripper mechanisms. We apply the NTO method to the origami chomper-based flexible gripper to redistribute the material at the creases to obtain the optimized origami chomper-based flexible gripper. Several optimized origami chomper-based flexible gripper prototypes are fabricated by using laser cutter, followed by a series of experiments to test the gripping performances, including gripping range capability under an identical input load, maximum gripping ratio, gripping adaptability, and achieving richer gripping characteristics by size scaling. Results demonstrate that the optimized origami chomper-based flexible gripper can handle a wide range of objects irregularities in textures and uneven shapes;and the gripping range capability can be significantly enhanced by the NTO method. We also show that the optimized origami chomper-based flexible gripper can enable effective gripping of objects across scales from millimeters to centimeters to decimeters through size scaling.

show abstract

Section: Introductionmentioning

confidence: 99%

Nonlinear topology optimization design and gripping tests of a novel origami chomper-based flexible gripper

Liu

Chen

Wen

et al. 2023

Preprint

View full text Add to dashboard Cite

show abstract

“…[6][7][8][9][10] Origami structures have been widely and innovatively applied in practical engineering. [11][12][13][14][15][16][17][18][19][20][21][22][23][24][25] The coexisting structural properties of flexibility and rigidity of the origami structure provides inherent superiority when applied to flexible robot grippers. [26][27][28][29] For example, an origami-inspired reconfigurable suction gripper was designed to handle objects with challenging geometries.…”

Section: Introductionmentioning

confidence: 99%

Origami Chomper‐Based Flexible Gripper with Superior Gripping Performances

Liu,

Chen,

Wen

et al. 2023

Advanced Intelligent Systems

View full text Add to dashboard Cite

Flexible grippers with superior gripping capabilities are essential for carrying objects. Herein, an origami chomper‐based flexible gripper is designed using a combination of the origami technique and a newly developed nonlinear topology optimization method. This novel origami chomper‐based flexible gripper exhibits superior gripping performance, as revealed by a series of experiments, including gripping range capability under an identical input load, maximum gripping ratio, gripping adaptability, and achieving richer gripping characteristics by size scaling. The origami chomper‐based flexible gripper can handle a wide range of object irregularities in textures and uneven shapes and can enable effective gripping of objects across scales from millimeters to centimeters to decimeters through size scaling. This study paves the way for innovative high‐performance designs of flexible grippers.

show abstract

“…To advance the state of the art, a few recent investigations are being pursued to address this issue. For example, Li and Wang [20], Sadeghi and Li [30], and Zhang et al [31] pressurized origami tubes to achieve tunability of stiffness and stability profiles. Specifically, by varying the internal pressure of the predesigned origami tube, different stiffness properties and energy landscapes can be achieved in an on-demand and online manner.…”

Section: Introductionmentioning

confidence: 99%

On-demand tuning of mechanical stiffness and stability of Kresling origami harnessing its nonrigid folding characteristics

Agarwal

Wang

et al. 2023

Smart Mater. Struct.

View full text Add to dashboard Cite

Being adaptive with respect to changing operating conditions and the environment are imperative demands for advanced engineering structures. In this research, two Kresling origami units are stacked together to form an online and on-demand tunable Dual-Kresling Origami Structure (D-KOS), allowing easy and significant change of the multistability profile and apparent stiffness without redesign. Specifically, by harnessing its non-rigid folding nature together with geometric characteristics, D-KOS can be programmed to follow distinct paths of its strain energy contour as varying ϕp (rotational angle of the top plate of the D-KOS), which can be utilized to explicitly derive different mechanical properties. The D-KOS with identical Kresling origami units can exhibit various symmetric bistable behaviors with different energy barrier via adjusting ϕp. Such a structure becomes a monostable system as the tuning variable reaches a critical value. This change of the energy landscape and stability profile gives rise to the change of stiffness at its stable equilibria, which as a result creates a wide range of stiffness value one can achieve, including quasi-zero stiffness. Such tuning of ϕp does not require redesign of the structure, and thus can achieve online and on-demand tailoring. To verify the concept, proof-of-concept prototypes are developed and utilized to validate the D-KOS’s mechanical tunability experimentally. Moreover, different design parameters of D-KOS can change the tunability of D-KOS. For example, the D-KOS with non-identical Kresling origami units can possess even richer stability properties (being asymmetric bistable, symmetric bistable and monostable) with various energy landscapes. In addition, one can also tailor the range of the adjustable stiffness by changing the design parameters, such as ratio of the angle between polygon side and valley crease of the triangular facets, and the height of Kresling origami unit.

show abstract

Tunable dynamics in Yoshimura origami by harnessing pneumatic pressure

Cited by 17 publications

References 58 publications

Nonlinear topology optimization design and gripping tests of a novel origami chomper-based flexible gripper

Nonlinear topology optimization design and gripping tests of a novel origami chomper-based flexible gripper

Origami Chomper‐Based Flexible Gripper with Superior Gripping Performances

On-demand tuning of mechanical stiffness and stability of Kresling origami harnessing its nonrigid folding characteristics

Contact Info

Product

Resources

About