Increased interest in origami-based mechanisms has resulted in designers looking to them for solutions to engineering problems. Of particular interest is the ability to develop self-folding mechanisms that perform a pre-determined function in the presence of an applied field, requiring models that predict the mechanism’s force-deflection behavior and actuation input needs. In order to assist in the design of such mechanisms, this paper presents a model of the mechanical advantage for origami-based forceps (Oriceps) and explores how modifying the parameters of the model affects their behavior. The model is used to predict the force output of Oriceps actuated in an applied magnetic field. The predictions of the model are validated through experimental data.

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