Mechanical advantage is traditionally defined for single-input and single-output rigid-body mechanisms. A generalized approach for identifying single-output mechanical advantage for a multiple-input compliant mechanism, such as many origami-based mechanisms, would prove useful in predicting complex mechanism behavior. While origami-based mechanisms are capable of offering unique solutions to engineering problems, the design process of such mechanisms is complicated by the interaction of motion and forces. This paper presents a model of the mechanical advantage for multi-input compliant mechanisms and explores how modifying the parameters of a model affects their behavior. The model is used to predict the force-deflection behavior of an origami-based mechanism (Oriceps) and is verified with experimental data from magnetic actuation of the mechanism.

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