【摘要】 将折纸艺术与现代机构学相结合所得到的折纸机构广泛应用于空间结构领域，其独特的可展性、便捷性、轻量型和小型化一直以来都是研究热点。提出一种由折纸启发的厚板夹爪，并对其进行了设计分析。首先，把折纸与机构相结合对外形进行设计，利用单自由度的特点，解决其运动协调性和稳定性的问题；其次，对薄板夹爪模型进行运动学分析，探究其运动过程中转角、扭角及二面角之间的关系；最后，考虑到工程实际应用，对夹爪进行厚板化，并分析了输入角度与输出位移、夹持角度的关系。与传统夹爪不同，该夹爪具有结构简单、一体化程度高等特点，在兼顾灵活操作的同时具有可靠的运动性能，并且拥有在较小的输入角范围内输出较大夹持角度的能力。这为可展结构和夹爪的研究提供了重要思路和参考。更多还原

【Abstract】 The origami mechanism obtained by combining the origami art with the modern mechanism is widely used in the field of spatial structure, and its unique scalability, convenience, lightweight and miniaturization have always been research focuses. In this study, a thick plate clamping claw inspired by origami is proposed, and its design is analyzed. Firstly, the origami and mechanism are combined to design the shape, and the characteristics of a single degree of freedom are used to solve the problem of motion coordination and stability.Secondly, the kinematics of the thin gripper model is analyzed to explore the relation between the angle of rotation, twist angle and dihedral angle during its movement. Finally, considering the practical application of the project, the clamping jaws are thickened, and the relation between the input angle, the output displacement, and the clamping angle is analyzed. Different from the traditional gripper, the gripper has the characteristics of simple structure, high integration, and reliable movement performance, taking into consideration the flexible operation. It also has the ability to output a large clamping angle within a small input angle range. This study provides an important idea and reference for the research of deployable structure and grippers.更多还原