Research Papers

Origami Kaleidocycle-Inspired Symmetric Multistable Compliant Mechanisms

[+] Author and Article Information
Hongchuan Zhang

Guangdong Key Laboratory of
Precision Equipment and
Manufacturing Technology,
School of Mechanical and
Automotive Engineering,
South China University of Technology,
Guangzhou 510640, China
e-mail: 201610100023@mail.scut.edu.cn

Benliang Zhu

Guangdong Key Laboratory of
Precision Equipment and
Manufacturing Technology,
School of Mechanical and
Automotive Engineering,
South China University of Technology,
Guangzhou 510640, China
e-mail: meblzhu@scut.edu.cn

Xianmin Zhang

Guangdong Key Laboratory of
Precision Equipment and
Manufacturing Technology,
School of Mechanical and
Automotive Engineering,
South China University of Technology,
Guangzhou 510640, China
e-mail: zhangxm@scut.edu.cn

1Corresponding author.

Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANISMS AND ROBOTICS. Manuscript received March 30, 2018; final manuscript received September 24, 2018; published online November 19, 2018. Assoc. Editor: Hai-Jun Su.

J. Mechanisms Robotics 11(1), 011009 (Nov 19, 2018) (9 pages) Paper No: JMR-18-1088; doi: 10.1115/1.4041586 History: Received March 30, 2018; Revised September 24, 2018

Compliant kaleidocycles can be widely used in a variety of applications, including deployable structures, origami structures, and metamorphic robots, due to their unique features of continuous rotatability and multistability. Inspired by origami kaleidocycles, a type of symmetric multistable compliant mechanism with an arbitrary number of units is presented and analyzed in this paper. First, the basic dimension constraints are developed based on mobility analysis using screw theory. Second, the kinematic relationships of the actual rotation angle are obtained. Third, a method to determine the number of stabilities and the position of stable states, including the solution for the parameterized boundaries of stable regions, is developed. Finally, experimental platforms are established, and the validity of the proposed multistable mechanisms is verified.

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Fig. 1

Origami kaleidocycle-like structures: (a) Origami kaleidocycles with four units and (b) Origami fireworks with twelve bases

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Fig. 2

Stable and unstable points of compliant mechanisms

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Fig. 3

Unit model of an origami kaleidocycles-inspired loop. Each unit is composed of a pair of mutually perpendicular joints, and several fictitious constraints are added to the analysis of the local rotational mobility for the symmetrical motion.

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Fig. 4

The kinematics model with an arbitrary number of units

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Fig. 5

Tendency of kinematic relationship with increasing number of units. The curves becomes increasingly round and small. The lengths of lines d1 and d2 represent the potential energy of the mechanism for the type n = 3 and r = 1.

Grahic Jump Location
Fig. 6

Potential energy analysis of a specific kaleidocycles-inspired compliant mechanism. The parameters are given as n = 4, r = 1, θ01 = 0.005π, and θ02 = 0.01π. Points 1–8 are the stagnation points of the potential energy function Er(τ), where points 1, 3, 5 and 7 are the minimum points and points 2, 4, 6, 8 are the maximum points.

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Fig. 7

Analysis for multistable regions. The distribution of regions (a) with different stabilities is presented for the parameter r = 1. The point q is located in the quadstability region and has four positive tangent lines and four stable points p1, p2, p3, p4. Tendency of the positive part of stable constraint line (b), for instance, l1 and l1 are different tangents of the curve. If the parameters θ01 and θ02 are set of point q, two of the stability positions will occur at τ1 and τ2.

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Fig. 8

A quarter of an origami kaleidocycles-inspired compliant loop with sixteen units. It is assembled to form a closed loop by connecting half of the pulley structures, which are embedded in the structure and have a diameter of 30 mm.

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Fig. 9

Test platform of physical prototype: (a) diagrammatic sketch of test platform and (b) actual test platform

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Fig. 10

Torque-rotation angle curve of an origami kaleidocycle-inspired multistable compliant mechanism. All results only coincide with the positive part of the angle-torque curves because ropes cannot transfer the pulling force. The actual stable positions of (a) , (b) and (c) are at τ = 0, τ = 0,2.870 and τ = 0,1.330, 3.081, and 4.780, respectively.



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