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Kinematic Characterization of the Origami Spring Based on a Spherical 6R Linkage

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New Advances in Mechanisms, Mechanical Transmissions and Robotics

Part of the book series: Mechanisms and Machine Science ((Mechan. Machine Science,volume 46))

Abstract

This paper presents a kinematic characterization of the Origami Spring, which can change its shape from a flat, contracted state to a solid, extended state. Through observation using a real model, the Origami Spring was modelled as a spherical 6R linkage with 3 degrees of freedom (DOF). To obtain a kinematic model, which enables kinematic design of the Origami Spring for real applications, mobility analysis and displacement analysis have been performed. To reveal the actual behavior of the Origami Spring: it behaves like a single DOF, displacement analysis has been formulated as an optimization problem with a single input using objective functions taking into consideration collision between links. Numerical examples were presented to discuss the kinematic characteristics of the Origami Spring.

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References

  1. Fuse, T.: SPIRAL Origami Design Art. Viereck Verlag (2012). ISBN 978-3-941327-06-1

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  2. Min, C.C., Suzuki, H.: Geometrical properties of paper spring. In: Manufacturing Systems and Technologies for the New Frontier. Springer, London (2008)

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  3. Onal, C.D., Wood, R.J., Rus, D.: An origami-inspired approach to worm robots. IEEE/ASME Trans. Mechatron. 18(2), 430–438 (2013)

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Author information

Authors and Affiliations

  1. Tokyo Institute of Technology, Tokyo, Japan

    Hiroshi Matsuo, Daisuke Matsuura, Yusuke Sugahara & Yukio Takeda

Authors
  1. Hiroshi Matsuo
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  2. Daisuke Matsuura
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  3. Yusuke Sugahara
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  4. Yukio Takeda
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Corresponding author

Correspondence to Hiroshi Matsuo .

Editor information

Editors and Affiliations

  1. RWTH Aachen University, Aachen, Germany

    Burkhard Corves

  2. University Politehnica of Timisoara , Timisoara, Romania

    Erwin-Christian Lovasz

  3. RWTH Aachen University Dept of Mechanism Theory, Aachen, Nordrhein-Westfalen, Germany

    Mathias Hüsing

  4. University Politehnica of Timisoara , Timisoara, Romania

    Inocentiu Maniu

  5. University Politehnica of Timisoara, Timisoara, Romania

    Corina Gruescu

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Cite this paper

Matsuo, H., Matsuura, D., Sugahara, Y., Takeda, Y. (2017). Kinematic Characterization of the Origami Spring Based on a Spherical 6R Linkage. In: Corves, B., Lovasz, EC., Hüsing, M., Maniu, I., Gruescu, C. (eds) New Advances in Mechanisms, Mechanical Transmissions and Robotics. Mechanisms and Machine Science, vol 46. Springer, Cham. https://doi.org/10.1007/978-3-319-45450-4_19

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  • DOI: https://doi.org/10.1007/978-3-319-45450-4_19

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-45449-8

  • Online ISBN: 978-3-319-45450-4

  • eBook Packages: EngineeringEngineering (R0)

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