Design and Analysis of a Hybrid Actuator With Resilient Origami-Inspired Hinges

IF 4.6 2区计算机科学 Q2 ROBOTICS

IEEE Robotics and Automation Letters Pub Date : 2025-01-08 DOI:10.1109/LRA.2025.3527282

Seunghoon Yoo;Hyunjun Park;Youngsu Cha

引用次数: 0

Abstract

This letter presents a novel cable-driven hybrid origami-inspired actuator with load-bearing capability. In contrast to conventional origami, the hybrid origami layer of the actuator is characterized by resilient hinges and rigid facets. The layers are bonded and assembled with the motors that apply tension via wires to generate a motion. The actuator exhibits high blocking force performance while preserving the large deformability of the conventional origami. To analyze the structure, a mathematical model is built using origami kinematics and elastic analysis. A hybrid origami tower with multiple layers is also suggested to show feasibility as a robot manipulator.

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弹性折纸铰链混合驱动器的设计与分析

这封信提出了一种新颖的电缆驱动的混合折纸驱动器，具有承重能力。与传统折纸相比，执行器的混合折纸层具有弹性铰链和刚性面。这些层与通过电线施加张力以产生运动的马达粘合并组装在一起。该致动器在保持传统折纸的大变形性的同时，具有较高的阻力性能。为了对结构进行分析，利用折纸运动学和弹性分析建立了数学模型。此外，还提出了一种多层混合折纸塔作为机械臂的可行性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

IEEE Robotics and Automation Letters Computer Science-Computer Science Applications

CiteScore

9.60

自引率

15.40%

发文量

1428

期刊介绍： The scope of this journal is to publish peer-reviewed articles that provide a timely and concise account of innovative research ideas and application results, reporting significant theoretical findings and application case studies in areas of robotics and automation.