Mechanically Programmed Miniature Origami Grippers
Alec Orlofsky,Chang Liu,Soroush Kamrava,Ashkan Vaziri,Samuel M. Felton,Alec Orlofsky,Chang Liu,Soroush Kamrava,Ashkan Vaziri,Samuel M. Felton
This paper presents a robotic gripper design that can perform customizable grasping tasks at the millimeter scale. The design is based on the origami string, a mechanism with a single degree of freedom that can be mechanically programmed to approximate arbitrary paths in space. By using this concept, we create miniature fingers that bend at multiple joints with a single actuator input. The shape a...
