Mobility and Underactuated Kinematics of a Compliant Origami Waterbomb-6R Base with Vertex Joint

Hongchuan Zhang; Xianmin Zhang; Zhenhui Zhan; Mansen Chen; Tianyi Wu; Jun Liu

doi:10.1109/ROBIO64047.2024.10907628

Mobility and Underactuated Kinematics of a Compliant Origami Waterbomb-6R Base with Vertex Joint

Hongchuan Zhang
, Xianmin Zhang
, Zhenhui Zhan
, Mansen Chen
, Tianyi Wu
, Jun Liu^*

^*Corresponding author for this work

Department of Mechanical Engineering

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

Abstract

The compliant origami waterbomb-6R base has significant potential for application in a variety of origami structures. However, it is crucial to effectively model the underactuated kinematics of this origami base to enable a comprehensive analysis of its local motion, and to mitigate issues related to insufficient motion constraints that arise from the removal of vertex materials. In this study, a new configuration of compliant origami waterbomb-6R base with vertex joint is proposed. First, the mechanism and the mobility of the waterbomb-6R base is analyzed by using screw theory. Second, the underactuated kinematic modeling method based on the augmented Euler-Lagrange functional equation is presented. Finally, the compliant waterbomb-6R base of specific configuration parameters is studied for constrained compliance analysis and validation of underactuated kinematics at the stable point. The results show that the motion constraint of the new configuration is improved and the underactuated kinematic modeling method is effective. © 2024 IEEE.

Original language	English
Title of host publication	Proceedings of the 2024 IEEE International Conference on Robotics and Biomimetics
Publisher	IEEE
Pages	808-813
ISBN (Electronic)	979-8-3315-0964-4, 978-1-6654-8109-0
ISBN (Print)	979-8-3315-0965-1
DOIs	https://doi.org/10.1109/ROBIO64047.2024.10907628
Publication status	Published - Dec 2024
Event	2024 IEEE International Conference on Robotics and Biomimetics (ROBIO 2024) - Bangkok Marriott Marquis Queen’s Park, Bangkok, Thailand Duration: 10 Dec 2024 → 14 Dec 2024

Publication series

Name	IEEE International Conference on Robotics and Biomimetics, ROBIO
ISSN (Print)	2994-3566
ISSN (Electronic)	2994-3574

Conference

Conference	2024 IEEE International Conference on Robotics and Biomimetics (ROBIO 2024)
Place	Thailand
City	Bangkok
Period	10/12/24 → 14/12/24

Funding

This work was supported by the National Natural Science Foundation of China (Grant Nos. 52105018).

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10.1109/ROBIO64047.2024.10907628

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Zhang, H., Zhang, X., Zhan, Z., Chen, M., Wu, T., & Liu, J. (2024). Mobility and Underactuated Kinematics of a Compliant Origami Waterbomb-6R Base with Vertex Joint. In Proceedings of the 2024 IEEE International Conference on Robotics and Biomimetics (pp. 808-813). (IEEE International Conference on Robotics and Biomimetics, ROBIO). IEEE. https://doi.org/10.1109/ROBIO64047.2024.10907628

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title = "Mobility and Underactuated Kinematics of a Compliant Origami Waterbomb-6R Base with Vertex Joint",

abstract = "The compliant origami waterbomb-6R base has significant potential for application in a variety of origami structures. However, it is crucial to effectively model the underactuated kinematics of this origami base to enable a comprehensive analysis of its local motion, and to mitigate issues related to insufficient motion constraints that arise from the removal of vertex materials. In this study, a new configuration of compliant origami waterbomb-6R base with vertex joint is proposed. First, the mechanism and the mobility of the waterbomb-6R base is analyzed by using screw theory. Second, the underactuated kinematic modeling method based on the augmented Euler-Lagrange functional equation is presented. Finally, the compliant waterbomb-6R base of specific configuration parameters is studied for constrained compliance analysis and validation of underactuated kinematics at the stable point. The results show that the motion constraint of the new configuration is improved and the underactuated kinematic modeling method is effective. {\textcopyright} 2024 IEEE.",

author = "Hongchuan Zhang and Xianmin Zhang and Zhenhui Zhan and Mansen Chen and Tianyi Wu and Jun Liu",

year = "2024",

month = dec,

doi = "10.1109/ROBIO64047.2024.10907628",

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series = "IEEE International Conference on Robotics and Biomimetics, ROBIO",

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booktitle = "Proceedings of the 2024 IEEE International Conference on Robotics and Biomimetics",

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note = "2024 IEEE International Conference on Robotics and Biomimetics (ROBIO 2024) ; Conference date: 10-12-2024 Through 14-12-2024",

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Zhang, H, Zhang, X, Zhan, Z, Chen, M, Wu, T & Liu, J 2024, Mobility and Underactuated Kinematics of a Compliant Origami Waterbomb-6R Base with Vertex Joint. in Proceedings of the 2024 IEEE International Conference on Robotics and Biomimetics. IEEE International Conference on Robotics and Biomimetics, ROBIO, IEEE, pp. 808-813, 2024 IEEE International Conference on Robotics and Biomimetics (ROBIO 2024), Bangkok, Thailand, 10/12/24. https://doi.org/10.1109/ROBIO64047.2024.10907628

Mobility and Underactuated Kinematics of a Compliant Origami Waterbomb-6R Base with Vertex Joint. / Zhang, Hongchuan; Zhang, Xianmin; Zhan, Zhenhui et al.
Proceedings of the 2024 IEEE International Conference on Robotics and Biomimetics. IEEE, 2024. p. 808-813 (IEEE International Conference on Robotics and Biomimetics, ROBIO).

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

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AU - Zhang, Hongchuan

AU - Zhang, Xianmin

AU - Zhan, Zhenhui

AU - Chen, Mansen

AU - Wu, Tianyi

AU - Liu, Jun

PY - 2024/12

Y1 - 2024/12

N2 - The compliant origami waterbomb-6R base has significant potential for application in a variety of origami structures. However, it is crucial to effectively model the underactuated kinematics of this origami base to enable a comprehensive analysis of its local motion, and to mitigate issues related to insufficient motion constraints that arise from the removal of vertex materials. In this study, a new configuration of compliant origami waterbomb-6R base with vertex joint is proposed. First, the mechanism and the mobility of the waterbomb-6R base is analyzed by using screw theory. Second, the underactuated kinematic modeling method based on the augmented Euler-Lagrange functional equation is presented. Finally, the compliant waterbomb-6R base of specific configuration parameters is studied for constrained compliance analysis and validation of underactuated kinematics at the stable point. The results show that the motion constraint of the new configuration is improved and the underactuated kinematic modeling method is effective. © 2024 IEEE.

AB - The compliant origami waterbomb-6R base has significant potential for application in a variety of origami structures. However, it is crucial to effectively model the underactuated kinematics of this origami base to enable a comprehensive analysis of its local motion, and to mitigate issues related to insufficient motion constraints that arise from the removal of vertex materials. In this study, a new configuration of compliant origami waterbomb-6R base with vertex joint is proposed. First, the mechanism and the mobility of the waterbomb-6R base is analyzed by using screw theory. Second, the underactuated kinematic modeling method based on the augmented Euler-Lagrange functional equation is presented. Finally, the compliant waterbomb-6R base of specific configuration parameters is studied for constrained compliance analysis and validation of underactuated kinematics at the stable point. The results show that the motion constraint of the new configuration is improved and the underactuated kinematic modeling method is effective. © 2024 IEEE.

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ER -

Mobility and Underactuated Kinematics of a Compliant Origami Waterbomb-6R Base with Vertex Joint

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