Design and kinematic modeling of an origami-inspired cable-driven flexible arm

Author:

Liu Jiali1,Xu Yong1ORCID,Shi Haorang1,Yang Jie1

Affiliation:

1. School of Mechanical and Automotive Engineering, Shanghai University of Engineering Science, Shanghai, China

Abstract

The cable-driven flexible arm based on the principle of origami is a new type of non-articulated compliant actuator with high integration, high environmental adaptability, large workspace/large deployment ratio. The forward/reverse kinematic models of joint space, operation space and driving space along with trajectory error model of the cable-driven flexible arm were proposed in this paper. The prototype of the flexible arm was developed capable of realizing bending, torsion and expansion/contraction. The simulation and experiment results of the cable-driven foldable flexible arm verified feasibility of the kinematic models and driving method proposed in this paper. Above research achievements lay necessary foundation for the next step to realize the key service functions of grasping/manipulation, three-dimensional precise movement, non-structural environment interaction/adaptation of the flexible arm with variable stiffness, variable configuration and variable size.

Funder

National Natural Science Foundation of China

Publisher

SAGE Publications

Subject

Mechanical Engineering

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