DESIGN AND ANALYSIS OF FLEXIBLE CONTINUUM ROBOT BASED ON ORIGAMI AND MORTISE-TENON STRUCTURE (FCRBOM)

被引：0

作者：

Yu, Yue ^{[1
]}

Qiu, Lifang ^{[1
]}

Wang, Decheng ^{[2
]}

Zou, Jing ^{[1
]}

机构：

[1] Univ Sci & Technol Beijing, Sch Mech Engn, Beijing, Peoples R China

[2] China Acad Machinery Sci & Technol Grp Co Ltd, Beijing, Peoples R China

来源：

PROCEEDINGS OF ASME 2021 INTERNATIONAL DESIGN ENGINEERING TECHNICAL CONFERENCES AND COMPUTERS AND INFORMATION IN ENGINEERING CONFERENCE, IDETC-CIE2021, VOL 8A | 2021年

基金：

中国国家自然科学基金;

关键词：

Continuum robot; Compliant mechanisms; Origami; Compliance; Mortise and tenon joint;

D O I：

暂无

中图分类号：

TP39 [计算机的应用];

学科分类号：

081203 ; 0835 ;

摘要：

The continuum robot is a soft robot with infinite degrees of freedom. Origami has a high capacity for spatial deployment. This paper proposes a flexible continuum robot based on origami and mortise-tenon structure (FCRBOM). The robot consists of some flexible hinges based on origami and mortise-tenon structure (FHBOM). The design process of the FCRBOM is given. The compliance of the FCRBOM is analyzed by the compliance matrix method. The Finite element analysis (FEA) is used to simulate and analyze the FCRBOM, and the correctness of the theoretical analysis is verified. Then a spatial FCRBOM (SFCRBOM) is designed. The impact of key dimensional parameters on the flexibility of SFCRBOM is discussed. Finally, an SFCRBOM with higher flexibility is presented.

引用

页数：7

共 38 条

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