Design And Analysis Of An Origami-inspired Deployable Grasping Manipulator

The grasping of large unknown targets requires that the grasping robot should have larger workspace,larger grasping force,greater rigidity and higher stability of grasping,which makes the design of manipulator for grasping large unknown targets very challenging.Large workspace leads to large scale of manipulator,which requires that the manipulator has the ability of folding and unfolding to facilitate storage and transportation,while larger grasping force and high stability require that the manipulator should have better structural stiffness and enveloping property.In order to solve these technical problems,a new type of deployable manipulator based on origami principle is proposed in this paper.The design and analysis methods of this kind of manipulator are deeply researched.The specific contents are as follows:Based on origami principle,the configuration design method of deployable manipulator is proposed.The manipulator is connected in series by several basic developable module units,and each developable unit is jointly connected to the upper and lower boards through multiple origami mechanisms.In order to achieve better grasping stiffness,origami mechanism adopts rigid folding plate with a certain thickness,The driver arrangement of the basic module unit is analyzed.Kinematics analysis of basic deployable module unit is carried out.Kinematics equation of deployment process and bending grasping process is established.The degree of freedom of deployable grasping manipulator is analyzed based on screw theory.The bending angle of the unit is calculated by the expansion of the driving rod.The reachable workspace of the deployable manipulator is analyzed and calculated.The optimal design of the developed grasping manipulator is carried out.The folding plate size in the unit module is taken as the design variable,the folding ratio and the maximum bending angle of the unit in the motion process are taken as the optimization objective,and the parameters are optimized based on the previous kinematics analysis.The optimal size of the mechanism is obtained by solving the fminimax function of the MATLAB toolbox.Target grasping simulation of the proposed deployable grasping manipulator is carried out.The relationship between the driving force of the basic deployable module unit and the force when it contacts the target is analyzed.By improving the traditional cubic spline interpolation function,the trajectory of the module unit in motion is described,and the envelope process of uniform shape targets is grasped and analyzed.