Fabrication of robotic mechanisms and systems from planar substrates

Patent metadata

Field	Value
Publication number	US-10478975-B2
Application number	US-201615095366-A
Country	US
Kind code	B2
Filing date	Apr 11, 2016
Priority date	Apr 10, 2015
Publication date	Nov 19, 2019
Grant date	Nov 19, 2019

Abstract

A robotic configuration employs a system of low-cost, relatively lightweight beams and linkages fabricated from a planer material from a series of cuts and folds. The beams are folded along crease lines to form a 3-dimensional structure from a 2-dimensional substrate such as a polyester or other semi-rigid sheet. Tabs and appendages, or keys, cut into the planar material engage slots or apertures cut into adjacent members to define linkages. The linkages include tabs that are insertable in a one-way manner, such that removal is prevented but articulate and rotational movement is permitted by the resilient and flexible nature of the planar sheet material. An arrangement of beams and linkages are cut and formed based on a pattern imposed on a single planar sheet. The beam and linkage arrangement defines a robotic configuration for transport and other actions from an actuation source such as a motor.

First claim

What is claimed is:

1. A method of fabricating robotic members, comprising:
generating a pattern on a planar material, the pattern including creases and cuts on the planar material for defining functional units operative for robotic movement;
cutting the planar material along the generated cuts;
folding the planar material along the generated creases;
forming interconnected functional members based on the cut and folded planar material,
the interconnected functional members including a plurality of beams and linkages, each beam of the plurality of beams having a rigidity greater than the planar material and at least one linkage of the plurality of linkages securing a first beam and a second beam, the linkage defined by a polygonal aperture in the first beam, the polygonal aperture in the shape of a polygon having a plurality of sides and having tabs defined by sides of the polygon and adapted for engagement with the second beam, the second beam having a cross section based on the polygon and elongated apertures resulting from the generated cuts at a common cross section adapted for insertion of the tabs of the first beam into the generated cuts.

2. The method of claim 1 further comprising applying the generated pattern to a continuous sheet of the planar material for forming the interconnected functional members.

3. The method of claim 1 wherein the linkages secure a plurality of the beams in an articulated arrangement.

4. The method of claim 3 further comprising forming the beams by folding along the generated creases to define an elongated member having a triangular cross section.

5. The method of claim 3 wherein the linkages include a planar appendage on a linking beam and a corresponding aperture on a linked beam, the planar appendage having an expanding dimension following insertion in to the aperture, the inserted appendage providing a resilient communication between the linked beams, the expanded dimension of the planar appendage resisting removal from the aperture.

6. The method of claim 3 wherein the linkages include a foldable appendage, the foldable appendage having a folded state and an unfolded state,
the folded state having a dimension smaller than the aperture for insertion into the aperture; and
the unfolded state having a dimension larger than the aperture for retention following insertion.

Assignees

• Worcester Polytech Inst

Inventors

• Onal Cagdas D
• Chen Fuchen
• Tao Weijia

Classifications

• B25J19/00

  Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators (safety-devices in general F16P; protection against radiation in general G21F) · CPC title

• B25J19/007 Primary

  Means or methods for designing or fabricating manipulators · CPC title

• B62D57/032

  with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid (B62D57/024 takes precedence) · CPC title

• Y10S901/00

  Robots · CPC title

• Y10S901/01

  Mobile robot · CPC title