基于折纸的被动触发双稳态机器人手设计

李河舟,方杰,钱武,黄龙,谢霆聪,徐锦涛

Design of passively-triggered bistable robotic hand based on origami

Hezhou LI,Jie FANG,Wu QIAN,Long HUANG,Tingcong XIE,Jintao XU

图2 四顶点折痕图案及其等效球面4R连杆机构

Fig.2 Four-vertex crease pattern and its equivalent spherical 4R linkage mechanism