Problem
Research questions and friction points this paper is trying to address.
3D printing
hinge joint mechanism
low clearance
sheet fabrication
origami manufacturing
Low Clearance Hinge Joint Mechanism Based on 3D Printing on Sheet Fabrication Methodology
🤖 AI Summary
本文通过3D打印片材制造方法提出了一种低间隙铰链机制，简化了铰链的制造过程，并分析了其扭转角度和弯曲力，最终应用于三自由度delta机器人，实现了精确运动。
📝 Abstract
This paper presents a low-clearance hinge joint mechanism based on the 3D printing on sheet fabrication method. This approach simplifies the fabrication of hinge mechanisms and overcomes limitations of conventional origami manufacturing by eliminating the need for adhesives commonly used during assembly, making it suitable for robots at the tens-of-centimeters scale. The advantages and disadvantages of three types of hinge joint mechanisms are compared, and a hinge joint that can be designed with low clearance for various facet thicknesses is selected. Based on the selected hinge joint, the twisting angle and bending force are analyzed, leading to the implementation of a clearance of 0.1 mm. Torsional resistance is experimentally evaluated to measure the torque required for twisting caused by plastic deformation and clearance. The results show that the torque associated with plastic deformation is sufficient to constrain the undesired degrees of freedom of the hinge joint, while the torque required for twisting due to clearance is minimal. Based on the analyzed data, the proposed hinge joint mechanism is applied to a 3-degree-of-freedom delta robot manipulator, demonstrating precise motion with low clearance.
Innovation
Methods, ideas, or system contributions that make the work stand out.
3D printing on sheet
low-clearance hinge joint
no adhesives
torsional resistance
delta robot manipulator
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