Yoshimura折痕的双指机械手设计与分析

折纸的连续弯曲、扭转、伸展收缩和线性运动的特性，使得折纸构型比较适合机械手机构设计；然而，折纸在机械手方面的应用特别是对非柱状的机械手应用较少。基于图论和折痕分配算法提出了一种基于Yoshimura折痕的双指机械手机构，该机构由对应折痕等效形成的销杆连接构成。通过对折痕进行几何分析研究了该机构的运动特性，发现双指机械手机构能够实现弯曲抓取，具有弯曲程度大、抓取适应性强和结构刚度大的优点。对Yoshimura折痕的双指机械手机构进行了三维结构设计，通过对双指机械手机构进行自由度分析和几何分析，发现双指机械手单元具有3个自由度，机械手每个单元上的杆间角度越大可抓取物体的半径越小，且随着机械手横向和纵向单元数目增加其可抓取物体的半径变大。

Design and analysis of two-finger manipulator based on Yoshimura origami

The characteristics of continuous bending, torsion, stretching and linear movement of origami make the origami configuration more suitable for the manipulator mechanism. However, the application of origami in manipulators is less common, especially for non-columnar manipulators. Based on the graph theory and origami crease allocation algorithm, this paper proposes a two-finger manipulator mechanism based on the Yoshimura origami crease, which is connected by pin rods. Through the geometric analysis of the crease, the motion characteristics of the mechanism are studied. It is found that the two-finger manipulator mechanism can achieve bending and grasping, which has the advantages of large bending degree, great capturing adaptability and high stiffness. The two-finger manipulator of the Yoshimura origami crease is designed in three dimensions. Through the analysis of the degrees of freedom and geometric analysis of the two-finger manipulator mechanism, the two-finger manipulator unit had three degrees of freedom, and the larger the angle between the rods on each unit of the manipulator, the smaller the radius of the object that can be grasped. As the number of transverse and longitudinal units of the manipulator increased, the radius of the object that can be grasped became larger.