An Integrated Design and Simulation Environment for Rapid Prototyping of Laminate Robotic Mechanisms
This addresses the time-consuming and expensive design iteration problem for novices and hobbyists in robotics, though it is incremental as it builds on an existing design tool.
The paper tackles the lack of integrated design and analysis software for laminate robotic mechanisms by introducing a companion tool that automates dynamic equation generation and simulation, validated through comparisons with physical prototypes using motion capture.
Laminate mechanisms are a reliable concept in producing lowcost robots for educational and commercial purposes. These mechanisms are produced using low-cost manufacturing techniques which have improved significantly during recent years and are more accessible to novices and hobbyists. However, iterating through the design space to come up with the best design for a robot is still a time consuming and rather expensive task and therefore, there is still a need for model-based analysis before manufacturing. Until now, there has been no integrated design and analysis software for laminate robots. This paper addresses some of the issues surrounding laminate analysis by introducing a companion to an existing laminate design tool that automates the generation of dynamic equations and produces simulation results via rendered plots and videos. We have validated the accuracy of the software by comparing the position, velocity and acceleration of the simulated mechanisms with the measurements taken from physical laminate prototypes using a motion capture system.