Fabrication of robotic mechanisms and systems from planar substrates

Abstract

A robotic configuration employs a system of low-cost, relatively lightweight beams and linkages fabricated from a planer material from a series of cuts and folds. The beams are folded along crease lines to form a 3-dimensional structure from a 2-dimensional substrate such as a polyester or other semi-rigid sheet. Tabs and appendages, or keys, cut into the planar material engage slots or apertures cut into adjacent members to define linkages. The linkages include tabs that are insertable in a one-way manner, such that removal is prevented but articulate and rotational movement is permitted by the resilient and flexible nature of the planar sheet material. An arrangement of beams and linkages are cut and formed based on a pattern imposed on a single planar sheet. The beam and linkage arrangement defines a robotic configuration for transport and other actions from an actuation source such as a motor.