HexaMorph: A reconfigurable and foldable hexapod robot inspired by origami

Gao, Wei; Huang, Ke; Seehra, Jasjeet Singh; Ramani, Karthik; Cipra, Raymond J.

doi:10.1109/iros.2014.6943214

Cited by 13 publications

(7 citation statements)

References 20 publications

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“…The concept is presented in Figure 2c. Cipra et al [17] developed the HexaMorph, which is a reconfigurable and foldable hexapod robot inspired by the art of origami. The HexaMorph does not have a central body, making it different from most modular robotic systems, which have an open-chain or tree architecture.…”

Section: Part Handling Systems: Reconfigurable Grippersmentioning

confidence: 99%

Development and Analysis of Reconfigurable Robotic End-Effector for Machining and Part Handling

Reddy

Padayachee

Bright

2021

SAJIE

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Advanced robotic systems are an Industry 4.0 enabler in smart factories. Industrial robotic manipulators require an end-effector to perform tasks. The purpose of this study was to research and develop a reconfigurable robotic end-effector for machining and part handling. The device eliminates the need for separate robots to perform part handling and machining operations. A reconfigurable, dual-purpose design eliminates lengthy end-effector changes. The paper presents the mechanical conceptualisation, detailed design, manufacturing, and testing of the endeffector and spindle system. The concept uses a flexible, cable-driven gripper system in conjunction with a compact, lightweight milling system that is capable of machining non-ferrous metals. The results demonstrate the versatility and high compliance of the gripper. An experimental study revealed the influence that reconfigurability has on the spindle dynamics. The dynamic response of the gripping system was also experimentally examined during machining to evaluate the practicality of a dual-purpose design. Experimentally developed stability lobe diagrams are presented, which characterise the stable operating parameters of the machining system.

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Section: Part Handling Systems: Reconfigurable Grippersmentioning

confidence: 99%

Development and Analysis of Reconfigurable Robotic End-Effector for Machining and Part Handling

Reddy

Padayachee

Bright

2021

SAJIE

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“…Combined, equations (1)(2)(3)(4)(5)(6)(7)(8)(9)(10)(11)(12) give descriptions of the angular and rotational accelerations of the upper panel:…”

Section: Model Formulationmentioning

confidence: 99%

Dynamics of Kresling origami deployment

Kidambi

Wang

2020

Phys. Rev. E

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Origami-inspired structures have a rich design space and possess the ability to undergo large and complex yet predictable shape transformations, offering new opportunities for the development of deployable systems. There has been growing interest in such deployable systems that can extend uniaxially into tubes and booms. The Kresling pattern, which arises from the twist buckling of a thin cylinder and can exhibit multistability, offers great potential. However, much remains to be understood regarding the features that lead to effective deployment. Furthermore, origami deployment is fundamentally a dynamic process, yet its dynamic behaviors remain unexplored. These dynamics may be complex due to the strong nonlinearity, bistability, and potential for off-axis motions. Hence, this research seeks to uncover the deployment dynamics of Kresling structures for a range of system geometries and corresponding deployment strategies.It employs a full, six-degree-of-freedom model to provide insight into both axial and off-axis dynamics, revealing that the variation of key geometric parameters may lead to regions with qualitatively distinct mechanical responses. Results illustrate the sensitivity of dynamic deployment to changes in initial condition and small variations in geometric design. Further, analyses show how certain geometries and configurations affect the stiffness of various axial and off-axis deformation modes, offering guidance on the design of systems that deploy effectively while mitigating the effects of off-axis disturbances. Overall, the research outcomes suggest the strong potential of Kresling-based designs for deployable systems with robust and tunable performance.

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“…For example, an origami design called magic ball was used for floating aerial robots to provide buoyant force on water when inflated and shrink to reduce energy consumption in the air [29], [30]. Another interesting body of work focused on realizing self-folding in a flat engraved or precut sheet integrated with shape memory alloys (SMAs) or shape memory polymers [31]- [35]. While most of these existing works focus on origami-based designs, i.e., converting from a 2-D material/structure to a 3-D mechanism, TWISTER is inspired by origami but no longer an origami design.…”

Section: A Origami In Roboticsmentioning

confidence: 99%

TWISTER Hand: Underactuated Robotic Gripper Inspired by Origami Twisted Tower

2020

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This article presents a new cable-driven underactuated robotic gripper, called TWISTER Hand. It is designed for adaptable grasping of objects in different shapes, weights, sizes, and textures. Each finger of the gripper is made of a compliant and continuum mechanism inspired by an origami design. This design is converted into a computer-aided design (CAD) model and 3-D printed using flexible and rigid polymer composite materials. Two CAD modeling methods for this design are compared in terms of structural stiffness and durability in the printed outcomes. For each design, two soft materials are used for preliminary evaluation of the material effect in these properties. The best combination of the model and material is selected to fabricate the three fingers of the robotic gripper. Each finger has a single cable routed along the structure. All three cables are tied and actuated simultaneously using a single servo motor to generate closing and opening motions in the gripper. TWISTER Hand's adaptable grasping capability is tested using 36 different objects. The robot's grasping performance under object pose uncertainties is also experimentally tested and analyzed. This compact fully integrated gripper can be attached to a robotic arm for various manipulative tasks.

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HexaMorph: A reconfigurable and foldable hexapod robot inspired by origami

Cited by 13 publications

References 20 publications

Development and Analysis of Reconfigurable Robotic End-Effector for Machining and Part Handling

Development and Analysis of Reconfigurable Robotic End-Effector for Machining and Part Handling

Dynamics of Kresling origami deployment

TWISTER Hand: Underactuated Robotic Gripper Inspired by Origami Twisted Tower

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