Mechanical advantage is traditionally defined for single-input and single-output rigid-body mechanisms. A generalized approach for identifying single-output mechanical advantage for a multiple-input compliant mechanism, such as many origami-based mechanisms, would prove useful in predicting complex mechanism behavior. While origami-based mechanisms are capable of offering unique solutions to engineering problems, the design process of such mechanisms is complicated by the interaction of motion and forces. This paper presents a model of the mechanical advantage for multi-input compliant mechanisms and explores how modifying the parameters of a model affects their behavior. The model is used to predict the force-deflection behavior of an origami-based mechanism (Oriceps) and is verified with experimental data from magnetic actuation of the mechanism.
A Model for Multi-Input Mechanical Advantage in Origami-Based Mechanisms
Portions of this work were presented at IDETC 2015 as paper number 47708.
Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANISMS AND ROBOTICS. Manuscript received March 8, 2018; final manuscript received August 1, 2018; published online September 17, 2018. Assoc. Editor: Hai-Jun Su.
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Butler, J., Bowen, L., Wilcox, E., Shrager, A., Frecker, M. I., von Lockette, P., Simpson, T. W., Lang, R. J., Howell, L. L., and Magleby, S. P. (September 17, 2018). "A Model for Multi-Input Mechanical Advantage in Origami-Based Mechanisms." ASME. J. Mechanisms Robotics. December 2018; 10(6): 061007. https://doi.org/10.1115/1.4041199
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