Finite element modeling of an origami-inspired delta mechanism with flexible components and joints

Samankan S., Arjomandi Fard A., Berkkurt T. Z., Altınkaynak A., Acer Kalafat M.

Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, cilt.236, sa.22, ss.10914-10922, 2022 (SCI-Expanded) identifier identifier

  • Yayın Türü: Makale / Tam Makale
  • Cilt numarası: 236 Sayı: 22
  • Basım Tarihi: 2022
  • Doi Numarası: 10.1177/09544062221111697
  • Dergi Adı: Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science
  • Derginin Tarandığı İndeksler: Science Citation Index Expanded (SCI-EXPANDED), Scopus, Aerospace Database, Applied Science & Technology Source, Communication Abstracts, Compendex, INSPEC, Metadex, Civil Engineering Abstracts
  • Sayfa Sayıları: ss.10914-10922
  • Anahtar Kelimeler: origami, parallel platforms, FEM analysis, soft robots, delta mechanism, COMPLIANT MECHANISMS
  • İstanbul Teknik Üniversitesi Adresli: Evet

Özet

© IMechE 2022.Delta mechanism is one of the well-known parallel mechanisms used in robotic applications. In this study, the trajectory behavior of a novel Delta mechanism, which was designed and fabricated using layer-by-layer origami method, is investigated utilizing the finite element method (FEM). The mechanism was modeled with the dimensions of the actual fabricated mechanism. The mechanism consists of four different materials where properties of two materials are extracted experimentally via the tensile testing process. The accuracy of our model was compared to the finite element simulations and the results indicated that the mechanism follows the given trajectory within 0.05 normalized root-mean-square (RMS) error with respect to the kinematic model. The impact of the fabrication and instrumentation errors on the trajectory was further analyzed using FEM simulations and the contribution of each factor on the error was categorized. This validated numerical model can be used in the future to accurately simulate the mechanics of origami-inspired mechanisms and to design new mechanisms.