Paper-based modular origami gripper
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Publication Details
Author list: Phummapooti R., Jamroonpan N., Polchankajorn P., Pengwang E., Maneewarn T.
Publisher: Institute of Electrical and Electronics Engineers Inc.
Publication year: 2019
Start page: 5614
End page: 5619
Number of pages: 6
ISBN: 9781728140049
ISSN: 2153-0858
eISSN: 2153-0858
Languages: English-Great Britain (EN-GB)
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Abstract
In this paper, a novel method to construct a versatile gripper which can grasp various sizes and shapes of objects is proposed. The design and construction of this gripper is based on a paper folding technique called 'modular origami' This particular type of origami is constructed from multiple modules which can transform its shape by rotation. The gripper is actuated by a single motor using a linkage mechanism. The grasping part of this gripper is made of paper, thus it provides sufficient compliance to bend itself and create multiple contact points around objects with different shapes. This gripper can be used in two modes: force grasping and cage grasping. The proposed gripper was tested on objects with various shapes, weights and sizes. Furthermore, how the property of the paper affects the performance of the gripper was also tested. The thickness of the gripper material affects the compliance of the gripper and the range of sizes of objects which can be successfully gripped. ฉ 2019 IEEE.
Keywords
cage grasping, origami gripper, paper gripper, soft gripper
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