Torsion-Induced Compliant Joints and its Application to Flat-Foldable and Self-Assembling Robotic Arm

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The joint design of origami-inspired robots is one of the most distinctive features that distinguishes them from conventional robots. A joint design using material's compliance enables origami robots to implement complex transformational movements in a lightweight and simple manner. However, utilizing the continuum bending mode of materials brings critical problems, including undesired movements and joint radius. This study introduces a solution to these problems through a torsion-based compliant joint (T-C joint) design, which utilizes the torsion deformation of materials. The potential of the T-C joint is demonstrated in a flat-foldable and self-assembling robotic arm, providing its applicability in environments with form-factor limitations and minimal human intervention. The robotic arm - comprising links, joints, and a gripper - can fold into a flat state, deploy with precision and minimal weight, and effectively manipulate target objects. This demonstration shows the real-world application of the proposed joint design.
Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Issue Date
2023-11
Language
English
Article Type
Article
Citation

IEEE ROBOTICS AND AUTOMATION LETTERS, v.8, no.11, pp.7759 - 7766

ISSN
2377-3766
DOI
10.1109/LRA.2023.3320899
URI
http://hdl.handle.net/10203/315507
Appears in Collection
AE-Journal Papers(저널논문)
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