公开(公告)号：US20160318194A1

公开(公告)日：2016-11-03

申请号：US15095366

申请日：2016-04-11

Applicant: Worcester Polytechnic Institute

Inventor： Cagdas D. Onal ,  Fuchen Chen ,  Weijia Tao

IPC: B25J19/00 ,  B62D57/032

Abstract: A robotic configuration employs a system of low-cost, relatively lightweight beams and linkages fabricated from a planer material from a series of cuts and folds. The beams are folded along crease lines to form a 3-dimensional structure from a 2-dimensional substrate such as a polyester or other semi-rigid sheet. Tabs and appendages, or keys, cut into the planar material engage slots or apertures cut into adjacent members to define linkages. The linkages include tabs that are insertable in a one-way manner, such that removal is prevented but articulate and rotational movement is permitted by the resilient and flexible nature of the planar sheet material. An arrangement of beams and linkages are cut and formed based on a pattern imposed on a single planar sheet. The beam and linkage arrangement defines a robotic configuration for transport and other actions from an actuation source such as a motor.

Abstract translation: 机器人配置采用由一系列切割和折叠的平面材料制成的低成本，相对轻重的梁和连杆的系统。 梁沿着折线折叠以从诸如聚酯或其它半刚性片的二维基底形成三维结构。 切割成平面材料的标签和附件或键将与切割成相邻构件的狭缝或孔相接合以限定连接。 连杆包括可以以单向方式插入的突出部，从而防止了移除，而是通过平面片材的弹性和柔性来允许旋转运动。 基于施加在单个平面片上的图案切割并形成梁和连杆的布置。 梁和连杆装置限定了用于运输和其它动作的机器人配置，诸如马达等动作源。

公开(公告)号：US20190126497A1

公开(公告)日：2019-05-02

申请号：US16176138

申请日：2018-10-31

Applicant: Worcester Polytechnic Institute

Inventor： Cagdas D. Onal ,  Onder Ondemir ,  Weijia Tao

IPC: B25J15/12 ,  B25J9/00 ,  B25J9/10 ,  B25J15/10

Abstract: A soft bodied robotic member has the appearance of a finger and has a deformable rubber elongated body surrounding an array of rigid ribs interconnected by a perpendicular constraint. The plates form a series of parallel protrusions extending from opposed sides of the body and have a serrated, sawtooth or wavelike appearance. A tether runs through each row of protrusions and draws the corresponding protrusions together in a compressive manner to bend or dispose the finger toward the compressed side. Gaps between the protrusion allow movement of the protrusion towards adjacent protrusions to dispose the body in an arcuate shape. The constraint is a planar sheet that bends with the arc along its width, but resists lateral twisting, thus limiting movement outside a plane defined by the arc and the tether. Multiple finger members may be placed in close geometric proximity for gripping a common object

公开(公告)号：US11097430B2

公开(公告)日：2021-08-24

申请号：US16176138

申请日：2018-10-31

Applicant: Worcester Polytechnic Institute

Inventor： Cagdas D. Onal ,  Onder Ondemir ,  Weijia Tao

IPC: B25J15/10 ,  B25J15/12 ,  B25J9/00 ,  B25J9/10

Abstract: A soft bodied robotic member has the appearance of a finger and has a deformable rubber elongated body surrounding an array of rigid ribs interconnected by a perpendicular constraint. The plates form a series of parallel protrusions extending from opposed sides of the body and have a serrated, sawtooth or wavelike appearance. A tether runs through each row of protrusions and draws the corresponding protrusions together in a compressive manner to bend or dispose the finger toward the compressed side. Gaps between the protrusion allow movement of the protrusion towards adjacent protrusions to dispose the body in an arcuate shape. The constraint is a planar sheet that bends with the arc along its width, but resists lateral twisting, thus limiting movement outside a plane defined by the arc and the tether. Multiple finger members may be placed in close geometric proximity for gripping a common object.

公开(公告)号：US11865702B2

公开(公告)日：2024-01-09

申请号：US17410719

申请日：2021-08-24

Applicant: Worcester Polytechnic Institute

Inventor： Cagdas D. Onal ,  Onder Ondemir ,  Weijia Tao

IPC: B25J15/10 ,  B25J15/12 ,  B25J9/10 ,  B25J9/00

CPC classification number: B25J15/12 ,  B25J9/0015 ,  B25J9/104 ,  B25J9/1075 ,  B25J15/10

Abstract: A soft bodied robotic member has the appearance of a finger and has a deformable rubber elongated body surrounding an array of rigid ribs interconnected by a perpendicular constraint. The plates form a series of parallel protrusions extending from opposed sides of the body and have a serrated, sawtooth or wavelike appearance. A tether runs through each row of protrusions and draws the corresponding protrusions together in a compressive manner to bend or dispose the finger toward the compressed side. Gaps between the protrusion allow movement of the protrusion towards adjacent protrusions to dispose the body in an arcuate shape. The constraint is a planar sheet that bends with the arc along its width, but resists lateral twisting, thus limiting movement outside a plane defined by the arc and the tether. Multiple finger members may be placed in close geometric proximity for gripping a common object.

公开(公告)号：US10478975B2

公开(公告)日：2019-11-19

申请号：US15095366

申请日：2016-04-11

Applicant: Worcester Polytechnic Institute

Inventor： Cagdas D. Onal ,  Fuchen Chen ,  Weijia Tao

IPC: B25J19/00 ,  B62D57/032

Abstract: A robotic configuration employs a system of low-cost, relatively lightweight beams and linkages fabricated from a planer material from a series of cuts and folds. The beams are folded along crease lines to form a 3-dimensional structure from a 2-dimensional substrate such as a polyester or other semi-rigid sheet. Tabs and appendages, or keys, cut into the planar material engage slots or apertures cut into adjacent members to define linkages. The linkages include tabs that are insertable in a one-way manner, such that removal is prevented but articulate and rotational movement is permitted by the resilient and flexible nature of the planar sheet material. An arrangement of beams and linkages are cut and formed based on a pattern imposed on a single planar sheet. The beam and linkage arrangement defines a robotic configuration for transport and other actions from an actuation source such as a motor.