{"title":"Design and Analysis of a Hybrid Actuator With Resilient Origami-Inspired Hinges","authors":"Seunghoon Yoo;Hyunjun Park;Youngsu Cha","doi":"10.1109/LRA.2025.3527282","DOIUrl":null,"url":null,"abstract":"This letter presents a novel cable-driven hybrid origami-inspired actuator with load-bearing capability. In contrast to conventional origami, the hybrid origami layer of the actuator is characterized by resilient hinges and rigid facets. The layers are bonded and assembled with the motors that apply tension via wires to generate a motion. The actuator exhibits high blocking force performance while preserving the large deformability of the conventional origami. To analyze the structure, a mathematical model is built using origami kinematics and elastic analysis. A hybrid origami tower with multiple layers is also suggested to show feasibility as a robot manipulator.","PeriodicalId":13241,"journal":{"name":"IEEE Robotics and Automation Letters","volume":"10 3","pages":"2128-2135"},"PeriodicalIF":4.6000,"publicationDate":"2025-01-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"IEEE Robotics and Automation Letters","FirstCategoryId":"94","ListUrlMain":"https://ieeexplore.ieee.org/document/10833851/","RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q2","JCRName":"ROBOTICS","Score":null,"Total":0}
引用次数: 0
Abstract
This letter presents a novel cable-driven hybrid origami-inspired actuator with load-bearing capability. In contrast to conventional origami, the hybrid origami layer of the actuator is characterized by resilient hinges and rigid facets. The layers are bonded and assembled with the motors that apply tension via wires to generate a motion. The actuator exhibits high blocking force performance while preserving the large deformability of the conventional origami. To analyze the structure, a mathematical model is built using origami kinematics and elastic analysis. A hybrid origami tower with multiple layers is also suggested to show feasibility as a robot manipulator.
期刊介绍：
The scope of this journal is to publish peer-reviewed articles that provide a timely and concise account of innovative research ideas and application results, reporting significant theoretical findings and application case studies in areas of robotics and automation.
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