Torsion-Induced Compliant Joints and its Application to Flat-Foldable and Self-Assembling Robotic Arm
Dongwook Yang, Hyun-Su Park, Keon-Ik Jang, Jae-Hung Han, Dae-Young Lee
Abstract
The joint design of origami-inspired robots is one of the most distinctive features that distinguishes them from conventional robots. A joint design using material's compliance enables origami robots to implement complex transformational movements in a lightweight and simple manner. However, utilizing the continuum bending mode of materials brings critical problems, including undesired movements and joint radius. This study introduces a solution to these problems through a torsion-based compliant joint (T-C joint) design, which utilizes the torsion deformation of materials. The potential of the T-C joint is demonstrated in a flat-foldable and self-assembling robotic arm, providing its applicability in environments with form-factor limitations and minimal human intervention. The robotic arm—comprising links, joints, and a gripper—can fold into a flat state, deploy with precision and minimal weight, and effectively manipulate target objects. This demonstration shows the real-world application of the proposed joint design.
BibTeX
@inproceedings{ral2023_torsioninducedco,
title = {Torsion-Induced Compliant Joints and its Application to Flat-Foldable and Self-Assembling Robotic Arm},
author = {Dongwook Yang and Hyun-Su Park and Keon-Ik Jang and Jae-Hung Han and Dae-Young Lee},
booktitle = {RA-L 2023},
year = {2023}
}