Now showing items 81-90 of 1026
A Novel 4-DOF Origami Grasper With an SMA-Actuation System for Minimally Invasive Surgery
Minimally invasive surgery (MIS) is one of the most challenging techniques for robot designers due to the limited size of access points, the high miniaturization level, and the dexterity needed for performing surgical ...
Repelling-screw based force analysis of origami mechanisms
This paper provides an approach to model the reaction force of origami mechanisms when they are deformed. In this approach, an origami structure is taken as an equivalent redundantly actuated mechanism, making it possible ...
Geometric constraints and motion branch variations for reconfiguration of single-loop linkages with mobility one
This paper explores essence of geometric constraints induced reconfiguration of single-loop kinematic chains with mobility one. Reconfigurable kinematic chains are firstly classified into four categories in light of ...
An extensible continuum robot with integrated origami parallel modules
This paper presents a novel design of extensible continuum robots in light of origamiinspired folding techniques. The design starts from a modularized crease pattern, which consists of two triangular bases and three waterbomb ...