This paper investigates the algorithm of origami carton folding with a multi-fingered robotic carton-packaging system. The equivalent mechanism structure of origami cartons is developed by modeling carton boards as links and creases as revolution joints. The trajectories of carton folding are analyzed by the mechanism model. Particularly the vertex of the carton is identified as a spherical linkage. A path planning algorithm is then generated based on the trajectory that is passed on to the tip of a five-bar robotic finger and the finger configuration space is identified. A test rig with two robotic fingers was developed to demonstrate the principle.
- Design Engineering Division and Computers and Information in Engineering Division
Path Planning for Origami Carton Folding With a Multi-Fingered Robotic System
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Yao, W, & Dai, JS. "Path Planning for Origami Carton Folding With a Multi-Fingered Robotic System." Proceedings of the ASME 2007 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. Volume 8: 31st Mechanisms and Robotics Conference, Parts A and B. Las Vegas, Nevada, USA. September 4–7, 2007. pp. 1205-1211. ASME. https://doi.org/10.1115/DETC2007-35542
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