21 Oct

Gripper definition: G1: simple gripper, no stiffener mechanisms added (failed) G2: optimized gripper, with stiffener mechanisms added (success) G3: over-designed gripper, with heavy-stiffener mechanisms added (failed) Videos: 1.a. G1, close view, free, open/close, show twisting on base, de...

16 Oct

Origami technique advantages: lightweight compact scalable etc Origami limitations: lack of structural stiffness malfunction caused by weight difficult to get satisfied design Examples Zhang et al. 2016: continuum robotic arm. This origami arm can provide larg...

08 Oct

Introduction What's the goal for this specific project? Building lightweight corrugation structures that satisfy stiffness requirement while optimize the weight (as low as possible). What have been accomplished so far and what will be accomplished? (1) We have developed easy-to-use analy...

01 Oct

What are we working on? Computational design of origami structure, based on mechanical specifications. Why are we doing this work? Advantages of origami structures: (1) tunable mechanical properties; (2) ease of design; (3) inexpensive and rapid manufacturing; (4) light weight with hi...

18 Sep

Quick Reminder: Goal: computational design and fabrication of corrugated mechanisms from behavioral specifications We studied double layered corrugation mechanism. The purpose is to increase stiffness in foldable structures. We also provide a simple model for optimial design based on maximum s...

14 Sep

Linearization of plate theory (4th order) for polygons (any amount of edges), with random tranverse loading Given a random polygon, I first devide it into rectangulars. Then I label points at intersections. Each unit is made out of four rectangulars, centered at each point. Each unit will...

08 Sep

Project goal: design toolbox An example design paradigm (Library #2) is shown below, with all edges simply-supported and distributed load across the entire top surface as an example. This week I have been searching existing methods/solutions for calculating reaction load on edges of a plat...

01 Sep

High-Level View: computational design of foldable structures Updates During the past week, I have been working on finidng numerical solutions for plate failures under different boundary conditions and loading conditions. For a plate, there are three types of boundary conditions: (1) simply...

25 Aug

During the past week, I have been doing background study on plate theory. The short term goal is to be able to determine plate behavior when applied loads. The long term goal is to be able to determine behavior of arbitrary foldable structures (which are assembled with plates), with different bounda...

19 Aug

Project High-Level View I propose the following as the high level view for designing foldable robots. ICRA Project Goal For the next two months, I will be focusing on designing structural elements, which is a major component in foldable robotic systems. I will build analysis design toolbox t...