Multibody Modelling Applied to Origami Carton Folding

摘要

This paper presents an application of the virtual prototyping on the reconfigurable mechanisms and in particular, in this study, is shown a multibody origami carton folding model. The aim of this work is to reproduce via numerical model the D-RAPS reconfigurable multifinger robot that is in use for this kind of application. Thanks to the trajectory matching, the authors reach model validation only by comparing analytical and numerical results. In addition, this model permits to investigate the carton folding deeper than via experimental tests. In fact, as example, the contact forces between the mechanism finger and carton panel are computed.