The novel synthesis of origami-inspired mechanisms based on graph theory

机制(生物学) 执行机构 计算机科学 螺旋理论 图形 刚度 扭矩 机构设计 图论 控制理论(社会学) 算法 理论计算机科学 数学 工程类 人工智能 控制(管理) 机器人 结构工程 热力学 认识论 组合数学 物理 哲学 数理经济学
作者
Zhihao Xia,Chunxu Tian,Luquan Li,Dan Zhang
出处
期刊:Mechanism and Machine Theory [Elsevier BV]
卷期号:192: 105547-105547
标识
DOI:10.1016/j.mechmachtheory.2023.105547
摘要

In this paper, a novel synthesis approach based on graph theory is proposed. This approach can be used to design the creases of origami mechanisms. All possible contracted graphs of the 1-DOF origami mechanism are provided based on the number and graph synthesis methods. Then, a new method named loop synthesis is presented and this method is used to obtain different loop situations of the contracted graphs considering the structural characteristics of the origami mechanism. Two theorems are proposed and proven to determine the availability of loop situations. Furthermore, a modified thick panel design method for the origami mechanism is presented, and both single units and multiple units of the origami mechanism are modelled. At the same time, a rotary actuator based on this mechanism is introduced to verify the validity of the above synthesis approach. Finally, rotation, repeatability, and static torque tests are conducted to measure the inherent stiffness constant of the actuator. This approach, which was proven to be effective for designing the origami mechanism, can be readily applied to generate the desired mechanism.
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