오리가미 1T2R 병렬형 로봇의 설계 및 제어

Abstract

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.