Design and analysis of an origami-inspired redundant rigid-flexible coupling deployable manipulator

Most manipulators require extensive operational space; however, in environments where space is limited, these devices must be compact during periods of inactivity. To address this challenge, a redundant rigid-flexible coupling deployable manipulator has been developed that optimizes space utilization and enhances operational capabilities. This development is informed by a detailed examination of the structure and motion performance of the Kresling origami unit. Equivalence principles for the mechanism are proposed, and an optimal rigid-flexible coupling equivalent mechanism unit is selected by integrating motion feasibility analysis with the significance of flexible structures. A 3RUU mechanism unit is chosen, and six such units are serially connected to construct a deployable manipulator. The workspace and mechanical properties of the manipulator are characterized, and principles for implementing reach-point motion are proposed to ensure superior overall performance. Experimental results show that the designed manipulator achieves a folding ratio of 2.58, supports a maximum load of 2611.1 g, and exhibits high flexibility and excellent overall performance in reach-point motion. These findings provide a solid foundation for the broader application of this type of manipulator.