This paper investigates the stiffness characteristics of an origami-type carton, which can be modeled into an equivalent mechanism by considering creases as revolute joints and panels as links. Stiffness characteristics of a single crease is investigated regarding its relationships with folding angular velocity and crease length. Based on the kinematic analysis of carton folding, the aggregated stiffness is obtained by integrating the individual crease stiffness into the equivalent mechanism. Finally experiment results of carton folding manipulation are obtained, and comparisons between the mathematical model and experimental data show that the model predicts the carton’s behaviour well.

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