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Open Access research with a European policy impact...

The Strathprints institutional repository is a digital archive of University of Strathclyde's Open Access research outputs. Strathprints provides access to thousands of Open Access research papers by Strathclyde researchers, including by researchers from the European Policies Research Centre (EPRC).

EPRC is a leading institute in Europe for comparative research on public policy, with a particular focus on regional development policies. Spanning 30 European countries, EPRC research programmes have a strong emphasis on applied research and knowledge exchange, including the provision of policy advice to EU institutions and national and sub-national government authorities throughout Europe.

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Dexterous manipulation of origami cartons with robotic fingers based on the interactive configuration space

Yao, Wei and Dai, Jian (2008) Dexterous manipulation of origami cartons with robotic fingers based on the interactive configuration space. Journal of Mechanical Design, 130 (2). ISSN 1050-0472

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Abstract

This paper investigates the equivalent mechanism structure of origami cartons and for the first time proposes a quantitative model of cartons and the interactive configuration space for folding origami cartons. With an analysis of the equivalent mechanism, gusset vertexes of cartons are investigated based on their equivalent spherical linkages and identified as guiding linkages that determine folding. Having established a kinematics model, a configuration control vector is characterized to control carton manipulation. The information of this configuration control vector is passed to the tip of a robotic finger and the finger configuration space is hence identified. The paper further introduces configuration transformation and creates a carton interactive configuration space, leading to generating trajectories of all four configuration control vectors and, subsequently, to finger operation trajectories. This results in making use of four robotic fingers for folding origami cartons. The interactive technique is further used for final tucking carton flaps. A novel rig with robotic fingers is then presented to demonstrate the principle and concept.