When a deployable origami structure is kinematically modelled as a link mechanism by replacing the creases by revolute joints, the obtained mechanism is generally overconstrained. In practice, devices and machines originated from overconstrained mechanisms need in-situ adjustments for assembly, and even encounter difficulty in assembly since they are sensitive to geometric errors. In some cases, smooth motion cannot be generated. To develop a high performance extendable arm inspired by an overconstrained origami while solving the problems above, this paper introduces the non-overconstrained kinematically equivalent mechanism (NO-KEM) of an origami structure in the design. Generation and confirmation scheme of NO-KEM is introduced based on the velocity relationship. Numerical examples on the static analysis of NO-KEMs of an origami as a determinate problem are shown and a practical design of an extendable arm based on the concept of NO-KEM having superior static characteristics is shown. Finally, experimental observations based on this design are shown to support the proposed method.
CITATION STYLE
Ando, R., Matsuo, H., Matsuura, D., Sugahara, Y., & Takeda, Y. (2021). Static Analysis and Design of Extendable Mechanism Inspired by Origami Structure Based on Non-overconstrained Kinematically Equivalent Mechanism. In CISM International Centre for Mechanical Sciences, Courses and Lectures (Vol. 601, pp. 521–529). Springer Science and Business Media Deutschland GmbH. https://doi.org/10.1007/978-3-030-58380-4_62
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