发表机构
KAIST; Stanford University（韩国科学技术院; 斯坦福大学）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
本文提出一种基于板材3D打印的低间隙铰链关节，通过消除粘合剂简化制造，实现0.1毫米间隙，并成功应用于3自由度Delta机器人，实现精确运动。
AI 中文摘要
本文提出了一种基于板材3D打印制造方法的低间隙铰链关节机构。该方法简化了铰链机构的制造，并通过消除装配过程中常用的粘合剂需求，克服了传统折纸制造的局限性，使其适用于数十厘米尺度的机器人。文中比较了三种类型铰链关节机构的优缺点，并选择了一种可为不同面厚度设计低间隙的铰链关节。基于所选铰链关节，分析了扭转角度和弯曲力，进而实现了0.1毫米的间隙。通过实验评估了扭转阻力，以测量由塑性变形和间隙引起的扭转所需的扭矩。结果表明，与塑性变形相关的扭矩足以约束铰链关节的不期望自由度，而由间隙引起的扭转所需扭矩则极小。基于分析数据，所提出的铰链关节机构被应用于一个3自由度Delta机器人操纵器，展示了低间隙下的精确运动。
英文摘要
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.
Comments5 pages, 8 figures
