김하연 핫산 니가투 최윤호 박상용 김도익 2024-10-04T07:30:22Z 2024-10-04T07:30:22Z 2024-10-04 2024-10 1225-9071 https://pubs.kist.re.kr/handle/201004/150729 Parallel robots exhibit superior precision to serial robots. They operate with reduced power consumption due to loaddistribution among individual motors. However, symmetrical parallel robots employing a 1T2R structure encounterchallenges with parasitic movements at the end-effector, leading to control complexities and application limitations. Thisstudy aimed to downsize the robot while ensuring its operational range by employing origami techniques. Addressing theinherent weakness of origami’s stiffness, various methods of material stacking and designed joints with diverse materialsand thicknesses were proposed to meet specific angle requirements for each component. The developed control modelwas validated through simulations and experiments, effectively minimizing parasitic movements by verifying the robot'smotion. Korean 한국정밀공학회 오리가미 1T2R 병렬형 로봇의 설계 및 제어 Design and Control of Origami 1T2R Parallel Robot Article 10.7736/JKSPE.024.015 1 Journal of the Korean Society for Precision Engineering, v.41, no.10, pp.783 - 788 Journal of the Korean Society for Precision Engineering 41 10 783 788 N scopus kci ART003124546 오리가미 병렬형 매니퓰레이터 소프트 로봇 적층 공정 Origami Parallel manipulator Soft robot Additive manufacturing