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5 驱动机构中支链I和支链III的运动简图

Fig.5 Kinematic diagram of limb Ⅰ and limb Ⅲ in driving mechanism