Chapitre D'ouvrage Année : 2025

An Origami-Inspired Gripper with Passive Bistable Grasping Capability: Design and Validation

Résumé

Origami sheds light on the design of mechanisms and robots. In this paper, inspired by an origami structure, an enveloping grasping mechanism is proposed. The origami-inspired grasping mechanism (OIGM) is symmetrically designed and has only one degree-of-freedom (DOF), which can be utilized to develop a gripper that can fully enclose the objects. The kinematic characteristics of the mechanism are analyzed. In particular, we integrate a leaf-spring-based bistable mechanism with the OIGM to design a gripper with a passive bistable grasping capability. Triggered by the impact force between the gripper and the object, the gripper can passively grasp objects. To validate the passive grasping capability of the gripper, a prototype is fabricated and the grasping experiment is conducted.

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Dates et versions

hal-04977365 , version 1 (05-03-2025)

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Jieyu Wang, Weiwei Hu, Yingzhong Tian, Stéphane Caro, Yinjun Zhao. An Origami-Inspired Gripper with Passive Bistable Grasping Capability: Design and Validation. Intelligent Robotics and Applications, 15201, Springer Nature Singapore, pp.266-277, 2025, Lecture Notes in Computer Science, ⟨10.1007/978-981-96-0771-6_20⟩. ⟨hal-04977365⟩
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