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Research Papers: Mechanisms and Robotics

Dexterous Manipulation of Origami Cartons With Robotic Fingers Based on the Interactive Configuration Space

[+] Author and Article Information
Wei Yao

Department of Mechanical Engineering, King’s College London, University of London, Strand, London WC2R 2LS, UKyao.wei@kcl.ac.uk

Jian S. Dai

Department of Mechanical Engineering, King’s College London, University of London, Strand, London WC2R 2LS, UKjian.dai@kcl.ac.uk

J. Mech. Des 130(2), 022303 (Dec 27, 2007) (8 pages) doi:10.1115/1.2813783 History: Received August 10, 2006; Revised April 12, 2007; Published December 27, 2007

This paper investigates the equivalent mechanism structure of origami cartons and for the first time proposes a quantitative model of cartons and the interactive configuration space for folding origami cartons. With an analysis of the equivalent mechanism, gusset vertexes of cartons are investigated based on their equivalent spherical linkages and identified as guiding linkages that determine folding. Having established a kinematics model, a configuration control vector is characterized to control carton manipulation. The information of this configuration control vector is passed to the tip of a robotic finger, and the finger configuration space is hence identified. The paper further introduces configuration transformation and creates a carton interactive configuration space, leading to generating trajectories of all four configuration control vectors and, subsequently, to finger operation trajectories. This results in making use of four robotic fingers for folding origami cartons. The interactive technique is further used for final tucking carton flaps. A novel rig with robotic fingers is then presented to demonstrate the principle and concept.

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Copyright © 2008 by American Society of Mechanical Engineers
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Figures

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Figure 1

A half-erected origami carton

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Figure 2

The equivalent mechanism of half of the origami carton

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Figure 3

The equivalent spherical linkage of a vertex of an origami carton

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Figure 4

The equivalent mechanism of an origami carton

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Figure 5

A corner section of the origami carton

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Figure 6

Geometry of the spherical five-bar mechanism

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Figure 7

Finger manipulation of a guiding linkage of an origami carton

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Figure 8

Coordinate transformation in the interactive configuration space

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Figure 9

Manipulation by four robotic fingers

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Figure 10

Finger manipulation of an origami carton

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Figure 11

Finger manipulation of an origami carton

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Figure 12

Mechanism closure in finger-carton interaction

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Figure 13

Tucking using robotic fingers

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