Oriceps: Origami Inspired Forceps

Summary

Aside from creating things that are fun to look at and play with, principles of origami can also be used to prototype new designs, create helpful tools, and solve real world problems.

This Oriceps design is an example of a compliant mechanism that was inspired by Shafer's origami “Chomper,” and was made for application as a pair of forceps that were later adapted and implemented for use on one of Intuitive Surgical's “da Vinci” robots. This gripping mechanism could be used for applications in remote-controlled space tools, other surgical devices, household items, and toys.

The Oriceps can be 3D printed or laser cut. The filament material used will determine the fatigue and flex properties of the mechanism. More flexible filaments will yield a mechanism that endures greater use and requires less force to actuate. More rigid filaments will yield a mechanism that requires more force to actuate, but will likely become brittle and break after fewer uses. 

This design was developed by the Compliant Mechanisms Research Group (CMR) from Brigham Young University (BYU). Follow us at @byucmr on Instagram or visit the BYU Compliant Mechanisms Research (CMR) website to learn more about compliant mechanisms.
 

Standards

NGSS, CCSS

Applications

Lesson Plan and Activity

Introduction

When thinking of origami, we may imagine little paper swans, fortune tellers, or ninja stars. Aside from creating things that are fun to look at and play with, origami principles can also be used to prototype new designs, create helpful tools, and solve real world problems. The Oriceps design was inspired by Shafer’s “Chomper,” and was made for application as a pair of origami-inspired forceps. Forceps are tweezers or pincers that are typically used in surgery or in a laboratory. Paper forceps would not be very useful on the operating table or in a lab, but this design was helpful as a prototype that contributed to elements of the final design.

Action Origami

Action origami is origami that can be animated or that has moving parts, like a bird that can flap its wings or a frog that can jump. The Oriceps design falls under the category of action origami because it actuates into an open or closed position when a force input is applied.

Origami Prototypes

Origami can be used to prototype furniture, light fixtures, robotics components, collapsible tools, deployable space equipment, and so much more. It is an excellent option for concept development because paper is cheap, malleable, and easy to work with. Prototyping with origami can also be beneficial because it may provide insight as to how a design could be simplified or made with fewer materials and linkages. You may have to learn a few basic governing principles of origami to help achieve the desired shapes and designs, but with the help of a few origami books, online tutorials, and lots of practice, the possibilities are endless.

Materials for Oriceps Origami Activity

Each student needs: 

• An Oriceps paper handout 

• Scissors (if the handouts have not been cut out) 

• The folding directions 

• A clean surface to perform folds

Follow the 5 Steps Shown Below:

We will use mountain and valley folds as shown above.

Step 1: Cut out the Oriceps.

Step 2: Create mountain folds in the a and b lines.

Step 3: Now fold the b lines the opposite direction into valley folds.

Step 4: Mountain fold the c lines.

Step 5: Mountain fold the d lines.

Finished! Pinch the sides to open and close.

Learn More

This design was developed by the Compliant Mechanisms Research Group (CMR) from Brigham Young University (BYU). Follow us at @byucmr on Instagram or visit the BYU Compliant Mechanisms Research (CMR) website to learn more about compliant mechanisms.

See https://rdcu.be/dnHx0 for an article in Nature Communications about how and why we share these maker resources.

Technical Information

For in-depth technical information, see the following publications:

Edmondson, B.J., Bowen, L.A., Grames, C.L., Magleby, S.P., Howell, L.L., Bateman, T.C., “Oriceps: Origami-Inspired Forceps,” Proceedings of the ASME 2013 Conference on Smart Materials, Adaptive Structures and Intelligent Systems, Snowbird, UT, Sept 16-18, 2013, SMASIS2013-3299.

Butler, J., Bowen, L., Wilcox, E., Shrager, A., Frecker, M., von Lockette, P., Simpson, T., Lang, R., Howell, L., Magleby, S., “A Model for Multi-Input Mechanical Advantage in Origami-Based Mechanisms,” Journal of Mechanisms and Robotics, Vol. 10, 061007-1 to 061007-9, doi: 10.1115/1.4041199, 2018.

To learn more about compliant mechanisms in general, see the BYU Compliant Mechanisms Research (CMR) website or these books: Compliant Mechanisms, Handbook of Compliant Mechanisms 

Intellectual Property

The downloadable 3D print files provided here may be used, modified, and enjoyed for noncommercial use. To license this technology for commercial applications, contact:

BYU Technology Transfer Office

3760 Harold B. Lee Library

Brigham Young University

Provo, UT 84602

Phone: (801) 422-6266

https://techtransfer.byu.edu/contact