Weilin Lv, Wansui Nie, Jianjun Zhang, Yutong Wang, Shijie Guo
Rigidly foldable origami tubes are widely used in origami-inspired engineering designs. Here, using a mechanism construction process, we show that these tubes can be combined with tapered adding parts to form new tubes with different-sized cross sections that are rigidly foldable. A tapered tube is proposed, whose geometries is provided based on the kinematics of spherical 4R linkages. Several variations of the tapered tubes are presented, and the flat-foldability of these tubes are studied, leading to the right-angled and non-right-angled tubes which can be folded along their radial direction. The approach can be applied to both single and multilayered tubes. Moreover, the thick-panel form of the right-angled tubes is developed. Our work provides designers great flexibility in the design of tubular structures that require large shape change. The results can be readily utilized to build new structures for engineering applications ranging from deployable structures, meta-materials to origami robots.
{"title":"Tapered origami tubes with non-planar cross-sections","authors":"Weilin Lv, Wansui Nie, Jianjun Zhang, Yutong Wang, Shijie Guo","doi":"10.1115/1.4063749","DOIUrl":"https://doi.org/10.1115/1.4063749","url":null,"abstract":"Rigidly foldable origami tubes are widely used in origami-inspired engineering designs. Here, using a mechanism construction process, we show that these tubes can be combined with tapered adding parts to form new tubes with different-sized cross sections that are rigidly foldable. A tapered tube is proposed, whose geometries is provided based on the kinematics of spherical 4R linkages. Several variations of the tapered tubes are presented, and the flat-foldability of these tubes are studied, leading to the right-angled and non-right-angled tubes which can be folded along their radial direction. The approach can be applied to both single and multilayered tubes. Moreover, the thick-panel form of the right-angled tubes is developed. Our work provides designers great flexibility in the design of tubular structures that require large shape change. The results can be readily utilized to build new structures for engineering applications ranging from deployable structures, meta-materials to origami robots.","PeriodicalId":508172,"journal":{"name":"Journal of Mechanisms and Robotics","volume":"53 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2023-10-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139320073","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
In the direction of grasping application, continuum robots are characterized by flexible grasping and high adaptability. Based on research on the physiological structure and winding method of seahorses, a continuum robot with a helical winding grasping function is presented in this paper. The continuum robot is driven by cables and uses a new flexural pivot with large deformation as a rotation joint. Firstly, based on the Serret-Frenet frame of the spatial cylindrical helix, the helical winding continuum robot is modeled and solved. The change rules of parameters such as the rotation angle of the joint and the helix parameters under the helical winding method are derived. Then, the compliance matrix of the joint is solved using the structural matrix method, and a stiffness model is established to analyze the relationship between the load and deformation of the continuum robot. The kinematics model of the continuum robot is established by using the modified DH parameter method. The static model of the continuum robot is solved by vector analysis under the condition of considering gravity, and the relationship between length change of cables and joint curvature is obtained. According to the principle of static equilibrium, the relationship between friction factor and maximum bearing capacity is established. Finally, the stiffness model and static model of the continuum robot are verified by simulations and experiments. The test results show that within a certain radial range, the continuum robot has the function of helical winding and grasping for objects.
{"title":"Design and Analysis of Bionic Continuum Robot with Helical Winding Grasping Function","authors":"Xiong Jiang, Shouzhong Li, Chong Ma, Xinyu Kuang, Wenlong Zhang, Hongzhe Zhao","doi":"10.1115/1.4063738","DOIUrl":"https://doi.org/10.1115/1.4063738","url":null,"abstract":"In the direction of grasping application, continuum robots are characterized by flexible grasping and high adaptability. Based on research on the physiological structure and winding method of seahorses, a continuum robot with a helical winding grasping function is presented in this paper. The continuum robot is driven by cables and uses a new flexural pivot with large deformation as a rotation joint. Firstly, based on the Serret-Frenet frame of the spatial cylindrical helix, the helical winding continuum robot is modeled and solved. The change rules of parameters such as the rotation angle of the joint and the helix parameters under the helical winding method are derived. Then, the compliance matrix of the joint is solved using the structural matrix method, and a stiffness model is established to analyze the relationship between the load and deformation of the continuum robot. The kinematics model of the continuum robot is established by using the modified DH parameter method. The static model of the continuum robot is solved by vector analysis under the condition of considering gravity, and the relationship between length change of cables and joint curvature is obtained. According to the principle of static equilibrium, the relationship between friction factor and maximum bearing capacity is established. Finally, the stiffness model and static model of the continuum robot are verified by simulations and experiments. The test results show that within a certain radial range, the continuum robot has the function of helical winding and grasping for objects.","PeriodicalId":508172,"journal":{"name":"Journal of Mechanisms and Robotics","volume":"9 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2023-10-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139320582","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Kinematic estimations and dynamic performance assessments are fundamental theoretical issues to realize the mechanism from conceptual design to engineering application. In this paper, the closed-form dynamic formulations of a 4-DOF parallel driving mechanism are derived by combining the Lagrange method and virtual work principle. The selection principle of generalized coordinates and the steps for inverse dynamics modeling of the manipulator are proposed. Simulation results verify the correctness of the dynamic model and a physical prototype has been built. Based on the dynamic modeling, the concise algebraic expression of the operational space inertia matrix of the parallel driving mechanism is deduced. Because the translation and rotation degrees of freedom are inconsistent in the operational space, the Jacobian matrix is adopted to map the inertia matrix from the operational space to the joint space. Based on the inertia matrix in joint space, the Average Energy Transfer Efficiency (AETE) index is proposed. Finally, two control techniques for the manipulator implementable in joint space are compared. The AETE index and dynamic modeling method suggested in this paper can be further used in other manipulators for dynamic analysis and motion system design.
{"title":"Closed-form dynamic modeling and performance evaluation of a 4-DOF parallel driving mechanism","authors":"Yangyang Huang, Jinzhu Zhang, Xiaoyan Xiong","doi":"10.1115/1.4063670","DOIUrl":"https://doi.org/10.1115/1.4063670","url":null,"abstract":"Kinematic estimations and dynamic performance assessments are fundamental theoretical issues to realize the mechanism from conceptual design to engineering application. In this paper, the closed-form dynamic formulations of a 4-DOF parallel driving mechanism are derived by combining the Lagrange method and virtual work principle. The selection principle of generalized coordinates and the steps for inverse dynamics modeling of the manipulator are proposed. Simulation results verify the correctness of the dynamic model and a physical prototype has been built. Based on the dynamic modeling, the concise algebraic expression of the operational space inertia matrix of the parallel driving mechanism is deduced. Because the translation and rotation degrees of freedom are inconsistent in the operational space, the Jacobian matrix is adopted to map the inertia matrix from the operational space to the joint space. Based on the inertia matrix in joint space, the Average Energy Transfer Efficiency (AETE) index is proposed. Finally, two control techniques for the manipulator implementable in joint space are compared. The AETE index and dynamic modeling method suggested in this paper can be further used in other manipulators for dynamic analysis and motion system design.","PeriodicalId":508172,"journal":{"name":"Journal of Mechanisms and Robotics","volume":"19 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2023-10-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139322753","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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