DC Field | Value | Language |
---|---|---|
dc.contributor.author | Kim, Sa-Reum | ko |
dc.contributor.author | Lee, Dae-Young | ko |
dc.contributor.author | Ahn, Sang-Joon | ko |
dc.contributor.author | Koh, Je-Sung | ko |
dc.contributor.author | Cho, Kyu-Jin | ko |
dc.date.accessioned | 2021-10-01T08:10:09Z | - |
dc.date.available | 2021-10-01T08:10:09Z | - |
dc.date.created | 2021-10-01 | - |
dc.date.created | 2021-10-01 | - |
dc.date.created | 2021-10-01 | - |
dc.date.created | 2021-10-01 | - |
dc.date.issued | 2021-04 | - |
dc.identifier.citation | IEEE TRANSACTIONS ON ROBOTICS, v.37, no.2, pp.494 - 505 | - |
dc.identifier.issn | 1552-3098 | - |
dc.identifier.uri | http://hdl.handle.net/10203/287976 | - |
dc.description.abstract | Origami provides a unique tool for the design of robotic frames owing to its simple shaping principle by "folding." However, achieving the fast and reversible activeness of a highly reconfigurable structure remains challenging owing to the limitations of accessible actuators. In particular, it is difficult to find an actuator that can realize a simultaneously large, rapid, reversible, and stable movement while leading to a favorable form factor for the origami. To overcome this, in this article, we propose a 3-D shape-shifting system consisting of a morphing origami block that complements the stability problem of shape memory alloy wire actuators by tuning its structural characteristics. This cooperative scheme improves the reversibility and stability of the shape-shifting system, which enables the rapid transformation with high degrees of freedom unlike in existing programmable origami. As a stand-alone unit of transformation, morphing block equipped with deployable mechanism and actuators weighs 6 g and has a volume change factor of ten. Furthermore, the transformation time in both directions is less than 5 s, and the block can carry more than 120 g of payload in the deployed state. The proposed system composed of multiple origami blocks can reconfigure itself into diverse 3-D target shapes. | - |
dc.language | English | - |
dc.publisher | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC | - |
dc.title | Morphing Origami Block for Lightweight Reconfigurable System | - |
dc.type | Article | - |
dc.identifier.wosid | 000637533900013 | - |
dc.identifier.scopusid | 2-s2.0-85098774158 | - |
dc.type.rims | ART | - |
dc.citation.volume | 37 | - |
dc.citation.issue | 2 | - |
dc.citation.beginningpage | 494 | - |
dc.citation.endingpage | 505 | - |
dc.citation.publicationname | IEEE TRANSACTIONS ON ROBOTICS | - |
dc.identifier.doi | 10.1109/TRO.2020.3031248 | - |
dc.embargo.liftdate | 9999-12-31 | - |
dc.embargo.terms | 9999-12-31 | - |
dc.contributor.localauthor | Lee, Dae-Young | - |
dc.contributor.nonIdAuthor | Kim, Sa-Reum | - |
dc.contributor.nonIdAuthor | Ahn, Sang-Joon | - |
dc.contributor.nonIdAuthor | Koh, Je-Sung | - |
dc.contributor.nonIdAuthor | Cho, Kyu-Jin | - |
dc.description.isOpenAccess | N | - |
dc.type.journalArticle | Article | - |
dc.subject.keywordAuthor | Strain | - |
dc.subject.keywordAuthor | Robots | - |
dc.subject.keywordAuthor | Actuators | - |
dc.subject.keywordAuthor | Shape | - |
dc.subject.keywordAuthor | Springs | - |
dc.subject.keywordAuthor | Kinetic theory | - |
dc.subject.keywordAuthor | Kinematics | - |
dc.subject.keywordAuthor | Compliant mechanism | - |
dc.subject.keywordAuthor | mechanism design | - |
dc.subject.keywordAuthor | modular robots | - |
dc.subject.keywordAuthor | robotic origami | - |
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