Tendon Driven Bistable Origami Flexible Gripper for High-Speed Adaptive Grasping

• Published in: IEEE robotics and automation letters Vol. 9; no. 6; pp. 5417 - 5424
• Main Authors: Liu, Weirui, Bai, Xu, Yang, Hui, Bao, Ruixin, Liu, Jiaqi
• Format: Journal Article
• Language: English
• Published: Piscataway IEEE 01.06.2024; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Angles (geometry); bistable; Deformation; Energy storage; fast response; Fingers; Grasping; Grasping force; Grippers; High speed; Kinematic equations; Kinematics; Mathematical models; Origami structure; Potential energy; tendon driven; Tendons; Torsion springs; Triangles

This letter introduces a novel bistable origami flexible gripper, which is based on a single-vertex and multi-crease (SVMC) origami structure that has several advantages, including a simple structure, low cost, and strong deformation capacity. This design addresses the drawbacks of slow response spe...