Abstract
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.
| Original language | English |
|---|---|
| Pages (from-to) | 10914-10922 |
| Number of pages | 9 |
| Journal | Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science |
| Volume | 236 |
| Issue number | 22 |
| DOIs | |
| Publication status | Published - Nov 2022 |
Bibliographical note
Publisher Copyright:© IMechE 2022.
Funding
The author(s) disclosed receipt of the following financial support for the research, authorship, and/or publication of this article: This work was supported by the Scientific and Technological Research Council of Turkey (TÜBİTAK), Grant No: 216M193.
| Funders | Funder number |
|---|---|
| Türkiye Bilimsel ve Teknolojik Araştırma Kurumu | 216M193 |
Keywords
- FEM analysis
- delta mechanism
- origami
- parallel platforms
- soft robots