This technology is a foldable module and manipulator that uses an origami-based Thales linkage structure to transform between a cubic state and a flat state with a single degree of freedom. It secures structural rigidity in its upright state through the folding and interlocking mechanism of its side plates and lockers.
Conventional robotic arms are bulky and complex, which can compromise flight stability in small mobile platforms like drones due to weight and dynamic coupling issues. Furthermore, attempts to increase degrees of freedom for miniaturization often result in reduced rigidity, making them vulnerable to external forces.
This technology proposes a method to ensure cubic rigidity by incorporating top and bottom plates, a second side plate divided into foldable and non-foldable sections, and a locker that engages with the first side plate to provide a locking function. The shape of the entire module can be controlled with a single degree of freedom using an actuator that adjusts the tension of a wire passing through wire holes. It is an innovative solution that achieves both compact storage when folded and high rigidity when deployed, making it suitable for drone-mounted robotic arms, space structures, and portable work equipment.
This invention was developed with support from the Human-Centered Soft Robot Technology Research Center of the Ministry of Science and ICT and the development of soft robotics-based technology for next-generation soft grippers by the Ministry of Trade, Industry and Energy.
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