# US 10,478,975 B2 · Fabrication of robotic mechanisms and systems from planar substrates > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,478,975 B2 - Document ID: US10478975B2 - Status: Granted - Kind: B2 - Application number: 15/095,366 - Filed: 2016-04-11 - Published: 2016-11-03 - Granted: 2019-11-19 - Earliest claimed: 2015-04-10 - Assignees: Worcester Polytechnic Institute - Applicants: Worcester Polytechnic Institute - Inventors: Cagdas D. Onal; Fuchen Chen; Weijia Tao - Web page: https://patentgrep.com/patent/US10478975B2 ## CPC - B25J 19/007: {Means or methods for designing or fabricating manipulators} - B25J 19/00: Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators (safety-devices in general F16P; protection against radiation in general G21F) - B62D 57/032: with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid (B62D57/024 takes precedence) - Y10S 901/00: Robots - Y10S 901/01: Mobile robot - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - B62D: MOTOR VEHICLES; TRAILERS (steering, or guiding on a desired track, of agricultural machines or implements A01B69/00; wheels, castors, axles, increasing wheel adhesion B60B; vehicle tyres, tyre inflation or tyre changing B60C; connections between vehicles of a train or the like B60D; vehicles for use on rail and road, amphibious or convertible vehicles B60F; suspension arrangements B60G; heating, cooling, ventilating or other air treating devices B60H; windows, windscreens, non-fixed roofs, doors or similar devices, protective coverings for vehicles not in use B60J; propulsion plant arrangements, auxiliary drives, transmissions, controls, instrumentation or dashboards B60K; electric equipment or propulsion of electrically-propelled vehicles B60L; power supply for electrically-propelled vehicles B60M; passenger accommodation not otherwise provided for B60N; adaptations for load transportation or to carry special loads or objects B60P; arrangement of signalling or lighting devices, the mounting or supporting thereof or circuits therefor, for vehicles in general B60Q; vehicles, vehicle fittings or vehicle parts not otherwise provided for B60R; servicing, cleaning, repairing, supporting, lifting, or manoeuvring, not otherwise provided for, B60S; brake arrangements, brake control systems or parts thereof B60T; air-cushion vehicles B60V; motor-cycles, accessories therefor B62J, B62K; testing of vehicles G01M) - Y10S: TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS ## 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. ## Claims ### Claim 1 A method of fabricating robotic members, comprising: generating a pattern on a planar material, the pattern including creases and cuts on the planar material for defining functional units operative for robotic movement; cutting the planar material along the generated cuts; folding the planar material along the generated creases; forming interconnected functional members based on the cut and folded planar material, the interconnected functional members including a plurality of beams and linkages, each beam of the plurality of beams having a rigidity greater than the planar material and at least one linkage of the plurality of linkages securing a first beam and a second beam, the linkage defined by a polygonal aperture in the first beam, the polygonal aperture in the shape of a polygon having a plurality of sides and having tabs defined by sides of the polygon and adapted for engagement with the second beam, the second beam having a cross section based on the polygon and elongated apertures resulting from the generated cuts at a common cross section adapted for insertion of the tabs of the first beam into the generated cuts. ### Claim 2 (depends on 1) The method of claim 1 further comprising applying the generated pattern to a continuous sheet of the planar material for forming the interconnected functional members. ### Claim 3 (depends on 1) The method of claim 1 wherein the linkages secure a plurality of the beams in an articulated arrangement. ### Claim 4 (depends on 3) The method of claim 3 further comprising forming the beams by folding along the generated creases to define an elongated member having a triangular cross section. ### Claim 5 (depends on 3) The method of claim 3 wherein the linkages include a planar appendage on a linking beam and a corresponding aperture on a linked beam, the planar appendage having an expanding dimension following insertion in to the aperture, the inserted appendage providing a resilient communication between the linked beams, the expanded dimension of the planar appendage resisting removal from the aperture. ### Claim 6 (depends on 3) The method of claim 3 wherein the linkages include a foldable appendage, the foldable appendage having a folded state and an unfolded state, the folded state having a dimension smaller than the aperture for insertion into the aperture; and the unfolded state having a dimension larger than the aperture for retention following insertion.