Principles from origami art are applied in the design of mechanisms and robotics increasingly frequent. A large part of the application driven research of these origami-like mechanisms focuses on devices where the creases (hinge lines) are actuated and the facets are constructed as stiff elements. In this paper, a design tool is proposed in which hinge lines with torsional stiffness and flexible facets are used to design passive, instead of active mechanisms. The design tool is an extension of a model of a single vertex compliant facet origami mechanism (SV-COFOM) and is used to approximate a desired moment curve by optimizing the design variables of the mechanism. Three example designs are presented: a constant moment joint (CMJ), a gravity compensating joint (GCJ) and a zero moment joint (ZMJ). The CMJ design has been evaluated experimentally, resulting in a root-mean-squared error (RMSE) of 6.4 × 10−2 N·m on a constant moment value of 0.39 N·m. This indicates that the design tool is suitable for a course estimation of the moment curve of the SV-COFOM in early stages of a design process.
A Design Tool for a Single Vertex Compliant-Facet Origami Mechanism Including Torsional Hinge Lines
Manuscript received February 1, 2017; final manuscript received September 9, 2017; published online October 19, 2017. Assoc. Editor: Jian S. Dai.
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Rommers, J., Radaelli, G., and Herder, J. L. (October 19, 2017). "A Design Tool for a Single Vertex Compliant-Facet Origami Mechanism Including Torsional Hinge Lines." ASME. J. Mechanisms Robotics. December 2017; 9(6): 061015. https://doi.org/10.1115/1.4038008
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