05 Nov

Computational Design of Foldable Robots, High-Level Flow Chart

Chang Liu

Flow Chart Entire project (Please note: this flow chart is constantly being updated) Current project (Please note: this flow chart is constantly being updated) Sub-project (Please note: this flow chart is constantly being updated) Sub-project detailed research plan (Please note: this f...

02 Nov

Next project, identifying weak points in foldable structures

Chang Liu

For the last project, we developed a design tool to computational design stiffness-enhanced mechanisms, based on corrugation structures. That project leaves us a question: where should we use stiffness-enhanced mechanisms in foldable structures. Therefore, my next project will be dedicated to i...

02 Nov

FORAY, Controller Case, Battery Case, Motor Case Design

Chang Liu

Here are the design files for FORAY project, including 2.2g controller+battery case 1.2g battery case 0.4g motor case Design Files (there are 2 types of file: .eps is the vector design file, you can open using InkScape to edit if needed; .pdf is what i converted into A4 size pdf file, in...

27 Oct

For FORAY group, if you need a light weight holder for you controller and battery, check here

Chang Liu

Alternative Link Cut time: 8mins Folding time: 2mins Weight: 2.2g

21 Oct

Demo Plan

Chang Liu

Gripper definition: G1: simple gripper, no stiffener mechanisms added (failed) G2: optimized gripper, with stiffener mechanisms added (success) G3: over-weight gripper, with heavy-stiffener mechanisms added (failed) Videos: 1.a. G1, close view, clamp on bar, close 1.b. G1, whole view (wi...

16 Oct

Corrugation project storyline

Chang Liu

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 prov...

08 Oct

Corrugation project, model validation, and case study plan

Chang Liu

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

Corrugation mechanism, model validation (partial results)

Chang Liu

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

"Corrugation" Paper Revision and Resubmission to ICRA2021 (R-AL)

Chang Liu

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

Chang Liu

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...

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