This paper presents the conceptualization and modeling of a compliant forceps design, which we have called Oriceps, as an example of origami-inspired design that has application in a variety of settings including robotic surgeries. Current robotic forceps often use traditional mechanisms with parts that are difficult to clean, wear quickly, and are challenging to fabricate due to their complexity and small size. The Oriceps design is based on the spherical kinematic configurations of several action origami models, and can be fabricated by cutting and folding flat material. This design concept has potential implementation as surgical forceps because it would require fewer parts, be easier to sterilize, and be potentially suitable for both macro and micro scales. The folded and planar characteristics of this design could be amenable to application of smart materials resulting in smaller scale, greater tool flexibility, integrated actuation, and an adaptability to a variety of tool functions. The suitability of shape-memory materials for use in Oriceps is discussed.
A technique for thickness accommodation in origami-inspired mechanism design is introduced. Mathematically, origami panels are generally assumed to be planar with zero thickness. Origami models can be viewed as kinematic mechanisms where folds are revolute joints and panels are links. An origami-inspired mechanism can achieve the same kinematic motion as the paper origami source model if all joints lie along the folds in the zero-thickness plane. The panels are stacked in sequence in the closed (stowed) position. A joint plane is chosen and each panel is given extensions connecting each panel to the chosen plane. The extensions from the stacked panels allow each panel to be rigidly connected to its revolute joint in the chosen plane with all other joints. The accommodation technique utilizes origami models that are rigidly foldable. The height of the extensions are determined by the sum of the thicknesses of all panels between its stowed panel and the chosen joint plane. Any panel thickness can be accommodated, including multiple panel thicknesses within the same mechanism. Process steps for offset panel design of origami-inspired mechanisms are presented.
IntroductionRigid-panel origami is often mathematically modeled with idealized zero-thickness panels. When paper is used to realize an origami design, the zero-thickness models are a good approximation. However, many origami-inspired designs require the use of thicker materials that likely will not behave as the zero-thickness kinematic models predict.The offset panel technique defined previously by the authors [Edmondson et al. 14] maintains the kinematics of a zero-thickness origami source model over its full range of motion. The offset panel technique accommodates uniform and varying panel thickness as well as offset panels or gaps between panels. The preserved kinematic behavior allows designers to select an origami model based on desired motion and instantiate it in thick materials.In this work, we review the offset panel technique and illustrate its capabilities and limitations through several example hardware demonstrations. The examples in the paper are based on the rigidly foldable M3V twist 1 shown in Figure 1. This twist tessellation was developed using the method of fold-angle multipliers [Evans et al. 15].
scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.
hi@scite.ai
10624 S. Eastern Ave., Ste. A-614
Henderson, NV 89052, USA
Copyright © 2024 scite LLC. All rights reserved.
Made with 💙 for researchers
Part of the Research Solutions Family.