Mechanical advantage is traditionally defined for single-input and single-output rigid-body mechanisms. A generalized approach for identifying single-output mechanical advantage for a multiple-input compliant mechanism, such as many origami-based mechanisms, would prove useful in predicting complex mechanism behavior. While origami-based mechanisms are capable of offering unique solutions to engineering problems, the design process of such mechanisms is complicated by the interaction of motion and forces. This paper presents a model of the mechanical advantage for multi-input compliant mechanisms and explores how modifying the parameters of a model affects their behavior. The model is used to predict the force-deflection behavior of an origami-based mechanism (Oriceps) and is verified with experimental data from magnetic actuation of the mechanism.
Issue Section:
Research Papers
References
1.
Salamon
, B.
, and Midha
, A.
, 1998
, “An Introduction to Mechanical Advantage in Compliant Mechanisms
,” ASME J. Mech. Des.
, 120
(2
), pp. 311
–315
.2.
Zhou
, L.
, Marras
, A. E.
, Castro
, C. E.
, and Su
, H.-J.
, 2016
, “Pseudorigid-Body Models of Compliant Dna Origami Mechanisms
,” ASME J. Mech. Rob.
, 8
(5
), p. 051013
.3.
Miyashita
, S.
, Guitron
, S.
, Ludersdorfer
, M.
, Sung
, C. R.
, and Rus
, D.
, 2015
, “An Untethered Miniature Origami Robot That Self-Folds, Walks, Swims, and Degrades
,” IEEE International Conference on Robotics and Automation
(ICRA
), Seattle, WA, May 26–30, pp. 1490
–1496
.4.
Miyashita
, S.
, Guitron
, S.
, Yoshida
, K.
, Li
, S.
, Damian
, D. D.
, and Rus
, D.
, 2016
, “Ingestible, Controllable, and Degradable Origami Robot for Patching Stomach Wounds
,” IEEE International Conference on Robotics and Automation
(ICRA
), Stockholm, Sweden, May 16–21, pp. 909
–916
.5.
Taylor
, A.
, Miller
, M.
, Fok
, M.
, Nilsson
, K.
, and Tse
, Z. T. H.
, 2016
, “Intracardiac Magnetic Resonance Imaging Catheter With Origami Deployable Mechanisms
,” ASME J. Med. Devices
, 10
(2
), p. 020957
.6.
Johnson
, M.
, Chen
, Y.
, Hovet
, S.
, Xu
, S.
, Wood
, B.
, Ren
, H.
, Tokuda
, J.
, and Tse
, Z. T. H.
, 2017
, “Fabricating Biomedical Origami: A State-of-the-Art Review
,” Int. J. Comput. Assisted Radiol. Surg.
, 12
(11), pp. 1
–10
.7.
Zirbel
, S.
, Magleby
, S.
, Howell
, L.
, Lang
, R.
, Thomson
, M.
, and Trease
, B.
, 2013
, “Accommodating Thickness in Origami-Based Deployable arrays1
,” ASME J. Mech. Des.
, 135
(11
), p. 111005
.8.
Butler
, J.
, Morgan
, J.
, Pehrson
, N.
, Tolman
, K.
, Bateman
, T.
, Magleby
, S. P.
, and Howell
, L. L.
, 2016
, “Highly Compressible Origami Bellows for Harsh Environments
,” ASME
Paper No. DETC2016-59060.9.
Qiao
, Q.
, Yuan
, J.
, Shi
, Y.
, Ning
, X.
, and Wang
, F.
, 2017
, “Structure, Design, and Modeling of an Origami-Inspired Pneumatic Solar Tracking System for the Npu-Phonesat
,” ASME J. Mech. Rob.
, 9
(1
), p. 011004
.10.
Miyashita
, S.
, DiDio
, I.
, Ananthabhotla
, I.
, An
, B.
, Sung
, C.
, Arabagi
, S.
, and Rus
, D.
, 2015
, “Folding Angle Regulation by Curved Crease Design for Self-Assembling Origami Propellers
,” ASME J. Mech. Rob.
, 7
(2
), p. 021013
.11.
Baranger
, E.
, Guidault
, P.-A.
, and Cluzel
, C.
, 2011
, “Numerical Modeling of the Geometrical Defects of an Origami-like Sandwich Core
,” Compos. Struct.
, 93
(10
), pp. 2504
–2510
.12.
Nojima
, T.
, and Saito
, K.
, 2006
, “Development of Newly Designed Ultra-Light Core Structures
,” JSME Int. J. Ser. A Solid Mech. Mater. Eng.
, 49
(1
), pp. 38
–42
.13.
Cheng
, Q.
, Song
, Z.
, Ma
, T.
, Smith
, B.
, Tang
, R.
, Yu
, H.
, Jiang
, H.
, and Chan
, C.
, 2013
, “Folding Paper-Based Lithium-Ion Batteries for Higher Areal Energy Densities
,” Nano Lett.
, 13
(10
), pp. 4969
–4974
.14.
Firouzeh
, A.
, and Paik
, J.
, 2017
, “An Under-Actuated Origami Gripper With Adjustable Stiffness Joints for Multiple Grasp Modes
,” Smart Mater. Struct.
, 26
(5
), p. 055035
.15.
Chen
, Y.
, Lv
, W.
, Li
, J.
, and You
, Z.
, 2017
, “An Extended Family of Rigidly Foldable Origami Tubes
,” ASME J. Mech. Rob.
, 9
(2
), p. 021002
.16.
Firouzeh
, A.
, and Paik
, J.
, 2015
, “Robogami: A Fully Integrated Low-Profile Robotic Origami
,” ASME J. Mech. Rob.
, 7
(2
), p. 021009
.17.
Zhang
, K.
, Qiu
, C.
, and Dai
, J. S.
, 2016
, “An Extensible Continuum Robot With Integrated Origami Parallel Modules
,” ASME J. Mech. Rob.
, 8
(3
), p. 031010
.18.
Pagano
, A.
, Yan
, T.
, Chien
, B.
, Wissa
, A.
, and Tawfick
, S.
, 2017
, “A Crawling Robot Driven by Multi-Stable Origami
,” Smart Mater. Struct.
, 26
(9
), p. 094007
.19.
Onal
, C. L.
, Wood
, R. J.
, and Rus
, D.
, 2013
, “An Origami-Inspired Approach to Worm Robots
,” IEEE Trans. Mechatronics
, 18
(2
), pp. 430
–438
.20.
Felton
, S.
, Tolley
, M.
, Demaine
, E.
, Rus
, D.
, and Wood
, R.
, 2014
, “A Method for Building Self-Folding Machines
,” Science
, 345
(6197
), pp. 644
–646
.21.
Guang
, C.
, and Yang
, Y.
, 2018
, “Single-Vertex Multicrease Rigid Origami With Nonzero Thickness and Its Transformation Into Deployable Mechanisms
,” ASME J. Mech. Rob.
, 10
(1
), p. 011010
.22.
Yang
, Y.
, and You
, Z.
, 2018
, “Geometry of Transformable Metamaterials Inspired by Modular Origami
,” ASME J. Mech. Rob.
, 10
(2), p. 021001.23.
Edmondson
, B.
, Bowen
, L.
, Grames
, G.
, Magleby
, S.
, Howell
, L.
, and Bateman
, T.
, 2013
, “Oriceps: Origami-Inspired Forceps
,” ASME
Paper No. SMASIS2013-3299.24.
Bowen
, L.
, Grames
, C.
, Magleby
, S.
, Lang
, R.
, and Howell
, L.
, 2013
, “A Classification of Action Origami as Systems of Spherical Mechanisms
,” ASME J. Mech. Des.
, 135
(11
), p. 111008
.25.
Midha
, A.
, Hall
, A. S.
, Her
, I.
, and Bubel
, G.
, 1984
, “Mechanical Advantage of Single-Input and Multiple-Output Ports Mechanical Device
,” ASME J. Mech. Trans., Autom. Des.
, 106
(4
), pp. 462
–469
.26.
Wang
, M. Y.
, 2009
, “Mechanical and Geometric Advantages in Compliant Mechanism Optimization
,” Front. Mech. Eng. China
, 4
(3
), pp. 229
–241
.27.
Shafer
, J.
, 2010
, Origami Ooh La La!
, CreateSpace Independent Publishing Platform
, Lexington, KY
.28.
Howell
, L. L.
, 2001
, Compliant Mechanisms
, Wiley
, New York.29.
Liu
, Y.
, Boyles
, J.
, Genzer
, J.
, and Dickey
, M.
, 2012
, “Self-Folding of Polymer Sheets Using Local Light Absorption
,” Soft Matter
, 8
(6), pp. 1764–1769.30.
Ryu
, J.
, D'Amato
, M.
, Cui
, X.
, Long
, K.
, Qi
, H.
, and Dunn
, M.
, 2012
, “Photo-Origami - Bending and Folding Polymers With Light
,” Appl. Phys. Lett.
, 100
(16), p. 161908.31.
Sun
, W.
, Liu
, F.
, Ma
, Z.
, Li
, C.
, and Zhou
, J.
, 2016
, “Soft Mobile Robots Driven by Foldable Dielectric Elastomer Actuators
,” J. Appl. Phys.
, 120
(8
), p. 084901
.32.
Ahmed
, S.
, Lauff
, C.
, Crivaro
, A.
, McGough
, K.
, Sheridan
, R.
, Frecker
, M.
, Lockette
, P.
, Ounaies
, Z.
, Simpson
, T.
, Lien
, J.
, and Strzelec
, R.
, 2013
, “Multi-Field Responsive Origami Structures: Preliminary Modelling and Experiments
,” ASME Paper No
. V06BT07A028.33.
Ahmed
, S.
, Ounaies
, Z.
, and Frecker
, M.
, 2014
, “Investigating the Performance and Properties of Dielectric Elastomer Actuators as a Potential Means to Actuate Origami Structures
,” Smart Mater. Struct.
, 23
(9
), p. 094003.34.
McGough
, K.
, Ahmed
, S.
, Frecker
, M.
, and Ounaies
, Z.
, 2014
, “Finite Element Analysis and Validation of Dielectric Elastomer Actuators Used for Active Origami
,” Smart Mater. Struct.
, 23
(9
), p. 094002.35.
Shigemune
, H.
, Maeda
, S.
, Hara
, Y.
, Hosoya
, N.
, and Hashimoto
, S.
, 2016
, “Origami Robot: A Self-Folding Paper Robot With an Electrothermal Actuator Created by Printing
,” IEEE/ASME Trans. Mechatronics
, 21
(6
), pp. 2746
–2754
.36.
Bowen
, L.
, Springsteen
, K.
, Ahmed
, S.
, Arrojado
, E.
, Frecker
, M.
, Simpson
, T. W.
, Ounaies
, Z.
, and von Lockette
, P.
, 2017
, “Design, Fabrication, and Modeling of an Electric–Magnetic Self-Folding Sheet
,” ASME J. Mech. Rob.
, 9
(2
), p. 021012
.37.
Cowan
, B.
, and von Lockette
, P. R.
, 2017
, “Fabrication, Characterization, and Heuristic Trade Space Exploration of Magnetically Actuated Miura-Ori Origami Structures
,” Smart Mater. Struct.
, 26
(4
), p. 045015
.38.
Crivaro
, A.
, Sheridan
, R.
, Frecker
, M.
, Simpson
, T. W.
, and Von Lockette
, P.
, 2016
, “Bistable Compliant Mechanism Using Magneto Active Elastomer Actuation
,” J. Intell. Mater. Syst. Struct.
, 27
(15
), pp. 2049
–2061
.39.
Guitron
, S.
, Guha
, A.
, Li
, S.
, and Rus
, D.
, 2017
, “Autonomous Locomotion of a Miniature, Untethered Origami Robot Using Hall Effect Sensor-Based Magnetic Localization
,” IEEE International Conference on Robotics and Automation
(ICRA
), Singapore, May 29–June 3, pp. 4807
–4813
.40.
Salerno
, M.
, Zuliani
, F.
, Firouzeh
, A.
, and Paik
, J.
, 2017
, “Design and Control of a Low Profile Electromagnetic Actuator for Foldable Pop-Up Mechanisms
,” Sens. Actuators A: Phys.
, 265
, pp. 70–78.41.
Hernandez
, E. A. P.
, Hartl
, D. J.
, Malak
, R. J.
, Akleman
, E.
, Gonen
, O.
, and Kung
, H.-W.
, 2016
, “Design Tools for Patterned Self-Folding Reconfigurable Structures Based on Programmable Active Laminates
,” ASME J. Mech. Rob.
, 8
(3
), p. 031015
.42.
Hawkes
, E.
, An
, B.
, Benbernou
, N. M.
, Tanaka
, H.
, Kim
, S.
, Demaine
, E. D.
, Rus
, D.
, and Wood
, R. J.
, 2010
, “Programmable Matter by Folding
,” Proc. Natl. Acad. Sci.
, 107
(28), pp. 12441–12445.43.
Bowen
, L.
, Springsteen
, K.
, Feldstein
, H.
, Frecker
, M.
, Simpson
, T.
, and von Lockette, P., 2015
, “Development and Validation of a Dynamic Model of Magneto-Active Elastomer Actuation of the Origami Waterbomb Base
,” ASME J. Mech. Des.
, 7
(1), p. 011010.44.
Sheridan
, R.
, Roche
, J.
, Lofland
, S.
, and von Lockette
, P.
, 2014
, “Numerical Simulation and Experimental Validation of the Large Deformation Bending and Folding Behavior of Magneto-Active Elastomer Composites
,” Smart Mater. Struct.
, 23
(9
), p. 094004.45.
Lang
, R. J.
, Magleby
, S.
, and Howell
, L.
, 2015
, “Single-Degree-of-Freedom Rigidly Foldable Origami Flashers
,” ASME
Paper No. DETC2015-46961.46.
Griffiths
, D. J.
, 1999
, Introduction to Electrodynamics
, 3rd ed., Prentice Hall
, Upper Saddle River, NJ.47.
Lang
, R. J.
, Tolman
, K. A.
, Crampton
, E. B.
, Magleby
, S. P.
, and Howell
, L. L.
, 2018
, “A Review of Thickness-Accommodation Techniques in Origami-Inspired Engineering
,” ASME Appl. Mech. Rev.
, 70
(1
), p. 010805
.Copyright © 2018 by ASME
You do not currently have access to this content.
