This paper provides an approach to model the reaction force of origami mechanisms when they are deformed. In this approach, an origami structure is taken as an equivalent redundantly actuated mechanism, making it possible to apply the forward-force analysis to calculating the reaction force of the origami structure. Theoretical background is provided in the framework of screw theory, where the repelling screw is introduced to integrate the resistive torques of folded creases into the reaction-force of the whole origami mechanism. Two representative origami structures are then selected to implement the developed modeling approach, as the widely used waterbomb base and the waterbomb-based integrated parallel mechanism. With the proposed kinematic equivalent, their reaction forces are obtained and validated, presenting a ground for force analysis of origami-inspired mechanisms.
Skip Nav Destination
Article navigation
June 2016
Research-Article
Repelling-Screw Based Force Analysis of Origami Mechanisms
Ketao Zhang,
Ketao Zhang
Mem. ASME
Centre for Robotic Research,
Kings’s College London,
London WC2R 2LS, UK
e-mail: ketao.zhang@kcl.ac.uk
Centre for Robotic Research,
Kings’s College London,
London WC2R 2LS, UK
e-mail: ketao.zhang@kcl.ac.uk
Search for other works by this author on:
Jian S. Dai
Jian S. Dai
ASME Fellow
Chair of Mechanisms and Robotics
MoE Key Laboratory for Mechanism Theory and
Equipment Design,
Tianjin University,
Tianjin, 300072, China;
Centre for Robotic Research,
King’s College London,
London WC2R 2LS, UK
e-mail: jian.dai@kcl.ac.uk
Chair of Mechanisms and Robotics
MoE Key Laboratory for Mechanism Theory and
Equipment Design,
Tianjin University,
Tianjin, 300072, China;
Centre for Robotic Research,
King’s College London,
London WC2R 2LS, UK
e-mail: jian.dai@kcl.ac.uk
Search for other works by this author on:
Chen Qiu
Ketao Zhang
Mem. ASME
Centre for Robotic Research,
Kings’s College London,
London WC2R 2LS, UK
e-mail: ketao.zhang@kcl.ac.uk
Centre for Robotic Research,
Kings’s College London,
London WC2R 2LS, UK
e-mail: ketao.zhang@kcl.ac.uk
Jian S. Dai
ASME Fellow
Chair of Mechanisms and Robotics
MoE Key Laboratory for Mechanism Theory and
Equipment Design,
Tianjin University,
Tianjin, 300072, China;
Centre for Robotic Research,
King’s College London,
London WC2R 2LS, UK
e-mail: jian.dai@kcl.ac.uk
Chair of Mechanisms and Robotics
MoE Key Laboratory for Mechanism Theory and
Equipment Design,
Tianjin University,
Tianjin, 300072, China;
Centre for Robotic Research,
King’s College London,
London WC2R 2LS, UK
e-mail: jian.dai@kcl.ac.uk
1Corresponding author.
Manuscript received May 31, 2015; final manuscript received August 24, 2015; published online March 7, 2016. Assoc. Editor: Larry L. Howell.
J. Mechanisms Robotics. Jun 2016, 8(3): 031001 (10 pages)
Published Online: March 7, 2016
Article history
Received:
May 31, 2015
Revised:
August 24, 2015
Citation
Qiu, C., Zhang, K., and Dai, J. S. (March 7, 2016). "Repelling-Screw Based Force Analysis of Origami Mechanisms." ASME. J. Mechanisms Robotics. June 2016; 8(3): 031001. https://doi.org/10.1115/1.4031458
Download citation file:
Get Email Alerts
Analysis of Force Distribution and Motion Characteristic of Hybrid-Driven Tensegrity Parallel Mechanism
J. Mechanisms Robotics (May 2025)
Modeling and Analysis of Inter-Panel Slipping for the Design of Rolled Gossamer Arrays
J. Mechanisms Robotics (April 2025)
Origami-Inspired Collapsible Structures for Small Rotorcraft Collision Resilience and Landing
J. Mechanisms Robotics (April 2025)
Designing Multi-axis Compliant Mechanisms With Lockable Decoupled Inputs: A Tip–Tilt Case Study
J. Mechanisms Robotics (April 2025)
Related Articles
Screw-System-Variation Enabled Reconfiguration of the Bennett Plano-Spherical Hybrid Linkage and Its Evolved Parallel Mechanism
J. Mech. Des (June,2015)
Single-Vertex Multicrease Rigid Origami With Nonzero Thickness and Its Transformation Into Deployable Mechanisms
J. Mechanisms Robotics (February,2018)
Structure Synthesis of 3-DOF Translational Parallel Mechanisms With Configurable Platform of Translation
J. Mech. Des (September,2024)
Deployable Prismatic Structures With Rigid Origami Patterns
J. Mechanisms Robotics (June,2016)
Related Proceedings Papers
Related Chapters
Infinitesimal Mechanics of the PKMs
Mechanics of Accuracy in Engineering Design of Machines and Robots Volume I: Nominal Functioning and Geometric Accuracy
Fatigue Analysis in the Connecting Rod of MF285 Tractor by Finite Element Method
International Conference on Advanced Computer Theory and Engineering, 4th (ICACTE 2011)
Study on Screw Drill Wear When Drilling Low Carbon Stainless Steel and Accompanying Phenomena in the Cutting Zone
International Conference on Instrumentation, Measurement, Circuits and Systems (ICIMCS 2011)