Design and Kinematics Analysis of a Three-finger Manipulator with Kresling and Miura Hybrid Origami Crease

被引：0
|
作者：
Yang H. [1 ,2 ]
Wang X. [1 ]
Qiao S. [2 ]
Liu R. [2 ]
机构：
[1] School of Electrical Engineering and Automation, Anhui University, Hefei
[2] State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin
来源：
Jiqiren/Robot | 2022年 / 44卷 / 01期
关键词：
Dynamics analysis; Hybrid origami manipulator; Kresling origami crease; Miura origami crease; Robot;
D O I：
10.13973/j.cnki.robot.210197
中图分类号：
O3 [力学];
学科分类号：
08 ; 0801 ;
摘要：
A three-finger manipulator with a Kresling and Miura hybrid origami crease is proposed, which has large grasping range, simple structure and high flexibility. Firstly, geometrical analysis on the Kresling origami crease is performed, and the relation equation between the parameters and the strain energy of the Kresling origami crease is established. The equation between the moment and the knuckle length-width ratio of the multilayer Miura origami element is established by the coordinate method. Then, the mathematical model of the relationship among the parameters of the hybrid element is established by using the principle of virtual work, and the distribution of the end points is calculated by using the D-H (Denavit-Hartenberg) coordinate method to determine the workspace of the manipulator. The method of torque balance is used to analyze the situations that the manipulator grasps the cylinder and cuboid objects in fingertip manner and in envelope manner respectively, and the relation between the contact forces and the joint angles is derived. © 2022, Science Press. All right reserved.
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页码：35 / 44
页数：9
相关论文
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