DocumentCode :
663941
Title :
Self-pop-up cylindrical structure by global heating
Author :
Miyashita, S. ; Onal, Cagdas D. ; Rus, Daniela
Author_Institution :
Comput. Sci. & Artificial Intell. Lab., MIT, Cambridge, MA, USA
fYear :
2013
fDate :
3-7 Nov. 2013
Firstpage :
4065
Lastpage :
4071
Abstract :
In this study, we demonstrate a new approach to autonomous folding for the body of a 3D robot from a 2D sheet using heat. We approach this challenge by folding a 0.27 mm sheet-like material into a structure. We utilize the thermal deformation of a contractive sheet sandwiched by rigid structural layers. During this “baking” process, the heat applied on the entire sheet induces contraction of the contracting layer and, thus, forms an instructed bend in the sheet. To attain the targeted folding angles, the V-fold Spans method is used. The targeted angle θout can be kinematically encoded into crease geometry. The realization of this angle in the folded structure can be approximately controlled by a contraction angle θin. The process is non-reversible, is reliable, and it is relatively fast. Our method can be applied simultaneously to all the folds in multi-creased origami structures. We demonstrate the use of this method to create a light-weight mobile robot.
Keywords :
deformation; forming processes; geometry; heating; mobile robots; robot kinematics; shapes (structures); sheet materials; 2D sheet; 3D robot; V-fold Spans method; autonomous folding; baking process; contracting layer contraction; contractive sheet thermal deformation; global heating; light-weight mobile robot; multicreased origami structures; rigid structural layers; self-pop-up cylindrical structure; Fasteners; Geometry; Heating; Materials; Ovens; Robots; Shape;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on
Conference_Location :
Tokyo
ISSN :
2153-0858
Type :
conf
DOI :
10.1109/IROS.2013.6696938
Filename :
6696938
Link To Document :
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