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Helical coiling robotic gripper using sheet-like compliant mechanism with customizable joint configuration
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- KIKUCHI Riku
- Kyushu University
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- OSAWA Keisuke
- Kyushu University
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- BANDARA D.S.V.
- Kyushu University
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- ARATA Jumpei
- Kyushu University
Bibliographic Information
- Other Title
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- 螺旋形状に巻き付くシート状グリッパ
- Published
- 2025
- DOI
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- 10.1299/jsmermd.2025.2p1-q10
- Publisher
- The Japan Society of Mechanical Engineers
Description
<p>We developed a compliant underactuated mechanism composed of a skeleton layer with diagonal pre-folding lines functioning as joints and a sliding layer made of polymer sheet. This configuration allows the sheet to softly coils around an object in a three-dimensional helical shape. Inspired by the origami, this mechanism is designed from a single polymer sheet. In this paper, we describe the motion principle and geometric model of the proposed mechanism, followed by its implementation and preliminaly evaluation.</p>
Journal
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- The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
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The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2025 (0), 2P1-Q10-, 2025
The Japan Society of Mechanical Engineers
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Keywords
Details 詳細情報について
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- CRID
- 1390588147237323648
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- ISSN
- 24243124
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- Text Lang
- ja
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- Data Source
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- JaLC
- Crossref
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- Abstract License Flag
- Disallowed
