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A 3D-Printable Robotic Gripper Based on Thick Panel Origami.

Chenying Liu1,2, Perla Maiolino1,2, Zhong You2

  • 1Department of Engineering Science, Oxford Robotics Institute, University of Oxford, Oxford, United Kingdom.

Frontiers in Robotics and AI
|September 27, 2021
PubMed
Summary
This summary is machine-generated.

This study introduces a novel robotic gripper based on thick panel origami, specifically the six-crease waterbomb pattern. The developed gripper, an assembly of Bricard linkages, demonstrates single mobility and effective grasping capabilities.

Keywords:
3D printinggraspingkinematic modellingorigami gripperthick panel origami

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Area of Science:

  • Robotics and Mechanical Engineering
  • Materials Science
  • Origami Engineering

Background:

  • Traditional origami robotics often uses thin materials, limiting applications for thicker ones.
  • Thick panel origami requires redesigned creases, altering linkage geometry and reducing degrees of freedom (DOFs).
  • Spherical linkages in zero-thickness origami transform into spatial linkages in thick panel origami, simplifying motion control.

Purpose of the Study:

  • To design and develop a robotic gripper utilizing thick panel origami principles.
  • To investigate the kinematic properties and single mobility of a gripper based on the six-crease waterbomb pattern.
  • To demonstrate the practical application and grasping capabilities of the thick panel origami gripper.

Main Methods:

  • Developing a robotic gripper from four units based on the thick panel six-crease waterbomb origami.
  • Kinematic modeling of each unit as a plane-symmetric Bricard linkage and the gripper as an assembly of these linkages.
  • Fabricating a prototype using 3D printing and controlling its motion with a single motor via tendons.
  • Conducting experiments to analyze tip positions, actuation forces, and grasping forces.

Main Results:

  • The gripper prototype, an assembly of Bricard linkages, exhibits single mobility.
  • Experimental results for tip positions and forces closely matched kinematic modeling predictions.
  • The gripper successfully demonstrated viable grasping, including for non-symmetrical objects.

Conclusions:

  • Thick panel origami offers a viable approach for designing robotic systems with simplified motion control.
  • The developed Bricard linkage-based gripper is a practical and effective robotic manipulation tool.
  • The study validates the potential of thick panel origami in creating functional robotic grippers.