Name
Abstract | ||
|---|---|---|
Origami provides a unique tool for the design of robotic frames owing to its simple shaping principle by “folding.” However, achieving the fast and reversible activeness of a highly reconfigurable structure remains challenging owing to the limitations of accessible actuators. In particular, it is difficult to find an actuator that can realize a simultaneously large, rapid, reversible, and stable movement while leading to a favorable form factor for the origami. To overcome this, in this article, we propose a 3-D shape-shifting system consisting of a morphing origami block that complements the stability problem of shape memory alloy wire actuators by tuning its structural characteristics. This cooperative scheme improves the reversibility and stability of the shape-shifting system, which enables the rapid transformation with high degrees of freedom unlike in existing programmable origami. As a stand-alone unit of transformation, morphing block equipped with deployable mechanism and actuators weighs 6 g and has a volume change factor of ten. Furthermore, the transformation time in both directions is less than 5 s, and the block can carry more than 120 g of payload in the deployed state. The proposed system composed of multiple origami blocks can reconfigure itself into diverse 3-D target shapes. |
Year | DOI | Venue |
|---|---|---|
2021 | 10.1109/TRO.2020.3031248 | IEEE Transactions on Robotics |
Keywords | DocType | Volume |
Strain,Robots,Actuators,Shape,Springs,Kinetic theory,Kinematics | Journal | 37 |
Issue | ISSN | Citations |
2 | 1552-3098 | 0 |
PageRank | References | Authors |
0.34 | 3 | 5 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Sa-Reum Kim | 1 | 6 | 1.24 |
| Dae-Young Lee | 2 | 30 | 4.40 |
| Sang-Joon Ahn | 3 | 0 | 0.34 |
| Je-Sung Koh | 4 | 78 | 13.48 |
| Kyu-Jin Cho | 5 | 324 | 70.86 |