Modeling of serial link robots covered with a thin flexible film This manuscript describes the modeling of a serial link robot covering with a thin, flexible film. By covering a serial link robot with a plastic film, the robot can manipulate daily goods such as foods and clothes cleanly. However, the mechanical properties of the serial links covering the film have not been clarified. In this manuscript, we discuss the fundamental mechanical characteristics, whether the film and the link should slide or not. We assume that the film is modeled as a beam, and analyze the static mechanical characteristics from the viewpoint of material mechanics. As a result, we find the robot can rotate even in a small DC motor by filling an appropriate volume of an insulating fluid. We evaluate the validity of the analyses experimentally through the prototype fabricated by the robot packaging method.

Design of LowProfile Compliant Transmission Mechanisms Robotic origami design allows creating mesoscale robotic systems and mechanisms not limited by degrees of freedom, miniaturization and assembly downsides of conventional transmission mechanisms. However, unlike the traditional rigid approaches, robotic origami application has been limited by the complex deformation and kinematics of the compliant joints and actuation based on active materials or conventional electric motors. To generalize their application at mesoscale requires a combination of the predictability of traditional rigid kinematics and the manufacturing flexibility of robotic origami. Here we present a study of conventional transmission mechanisms, including a slidercrank and camfollower, made in quasi2D form by selective machining and stacking of multiple layers of composite material with minimal assembly. Owing to a compliant design powered by lowprofile piezoelectric motors, our 5.3 mm thick and lightweight mechanisms transmit rotational motion to translational movements in and outofplane. We develop analytic models that we validate in terms of force and motion output on our prototypes.