Design and analysis of an origami-inspired manipulator
WANG Rugui
YANG Zehui
CHEN Peimin
ZENG Qineng
Abstract：[Objective]As a gradually emerging end effector device,manipulators are indispensable in robotics technology,but the current use effect of manipulators is not ideal.In order to achieve the grasping of complex objects,it is necessary to design a new type of robotic arm with a larger workspace and easier control.[Methods]Starting from the principle of origami,a class of origami unit that can be connected in series was designed in combination with the Bennett mechanism.A new type of manipulator was designed based on this structure,and a module design was adopted for the manipulator fingers,so that different knuckles can be connected in series with each other at the beginning and the end,and can be replaced by each other.[Results]The manipulator adopts single-degree-of-freedom design,and each finger only needs a single drive source.During the gripping process,each knuckle maintains an equiangular motion between the fingers,which can form a circular envelope curve and realize the envelope gripping of cylindrical objects.Meanwhile,for non-cylindrical objects,the manipulator can adopt the fingertip grasping mode,which has good adaptability.
Keywords：Origami mechanismMulti-joint manipulatorGrasping testModular designBennett mechanism
Publication Date：2025-08-15
Online Publishing Date：2026-09-12(First online date of this platform, not the publication date of the document)
Pages：6( 53-58 )