Kinematic Characterization of the Origami Spring Based on a Spherical 6R Linkage

This paper presents a kinematic characterization of the Origami Spring, which can change its shape from a flat, contracted state to a solid, extended state. Through observation using a real model, the Origami Spring was modelled as a spherical 6R linkage with 3 degrees of freedom (DOF). To obtain a...

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Bibliographic Details
Published inNew Advances in Mechanisms, Mechanical Transmissions and Robotics pp. 187 - 196
Main Authors Matsuo, Hiroshi, Matsuura, Daisuke, Sugahara, Yusuke, Takeda, Yukio
Format Book Chapter
LanguageEnglish
Published Cham Springer International Publishing 01.01.2017
SeriesMechanisms and Machine Science
Subjects
Displacement analysis
Kinematic modeling
Mobility analysis
Origami spring
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Summary:This paper presents a kinematic characterization of the Origami Spring, which can change its shape from a flat, contracted state to a solid, extended state. Through observation using a real model, the Origami Spring was modelled as a spherical 6R linkage with 3 degrees of freedom (DOF). To obtain a kinematic model, which enables kinematic design of the Origami Spring for real applications, mobility analysis and displacement analysis have been performed. To reveal the actual behavior of the Origami Spring: it behaves like a single DOF, displacement analysis has been formulated as an optimization problem with a single input using objective functions taking into consideration collision between links. Numerical examples were presented to discuss the kinematic characteristics of the Origami Spring.
ISBN:3319454498
9783319454498
ISSN:2211-0984
2211-0992
DOI:10.1007/978-3-319-45450-4_19