Design and Kinematics Analysis of a Three-finger Manipulator with Kresling and Miura Hybrid Origami Crease
YANG Hui1,2, WANG Xiang1, QIAO Shangling2, LIU Rongqiang2
1. School of Electrical Engineering and Automation, Anhui University, Hefei 230601, China; 2. State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China
杨慧, 汪祥, 乔尚岭, 刘荣强. Kresling和Miura折痕混合型三指机械手的运动学分析及其设计[J]. 机器人, 2022, 44(1): 35-44.DOI: 10.13973/j.cnki.robot.210197.
YANG Hui, WANG Xiang, QIAO Shangling, LIU Rongqiang. Design and Kinematics Analysis of a Three-finger Manipulator with Kresling and Miura Hybrid Origami Crease. ROBOT, 2022, 44(1): 35-44. DOI: 10.13973/j.cnki.robot.210197.
Abstract：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.
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