2P1-B11 Development of Joint Axis Relocation Mechanism for Robot Origami

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  • 2P1-B11 関節軸切換機構の開発と折り紙型ロボットへの応用(フレキシブル・メカニズム)

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In this paper, a joint axis relocation mechanism for robot origami was developed. :Robot origami is a transformation robot by folding a joint. A joint axis relocation mechanism (JARM) built-in robot origami was designed, which is possible to describe several shape by transforming itself without disassemble. This mechanism could switch its joint axis without separating the connected 2 plates. Robot origami can be made by combining number of these plates and making up closed-loop structure. The mechanism analysis by CAD confirmed that the robot origami composed of four JARMs transform several shape.

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