Quadcopters have many promising applications in transportation, agriculture, construction, and environmental monitoring. For further utilization, researches on attaching grasping function devices such as manipulators and grippers to quadcopters are gaining attention. Device mounting significantly impacts flight due to weight and center-of-gravity shifts. We developed a self-folded origami gripper (SOG) based on paper self-folding technology. The SOG consists of a bistable structure and a multilayer cylindrical structure. The origami structure is created by self-folding technology using ink-jet printing, which gives the paper elastic hinges and rigidity. The optimal parameters for designing the grasping function of the SOG were identified to improve the grasping performance. The SOG itself weighs only 5 g, yet it demonstrated grasping force equivalent to holding a 130 g object in the grasping force experiment. Eventually, the developed SOG was mounted on a quadcopter, and flight-grasping experiments were successfully conducted. The developed SOG is made entirely of paper, a biodegradable material. When the SOG falls to the ground due to an accident or deterioration, it is expected to be used as a green grasping device that returns to the soil and does not destroy the environment.

中文翻译：

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纸基双稳态折纸夹具使四轴飞行器具有多功能

四轴飞行器在交通、农业、建筑和环境监测方面有着许多有前景的应用。为了进一步利用，将机械手和夹具等抓取功能装置附加到四轴飞行器上的研究越来越受到关注。由于重量和重心转移，设备安装会对飞行产生显着影响。我们基于纸张自折叠技术开发了一种自折叠折纸夹具（SOG）。 SOG由双稳态结构和多层圆柱结构组成。折纸结构是通过喷墨打印的自折叠技术创建的，赋予纸张弹性铰链和刚性。确定了设计 SOG 抓取功能的最佳参数，以提高抓取性能。 SOG本身重量仅为5克，但在抓力实验中却表现出相当于握住130克物体的抓力。最终，将研制的SOG安装在四轴飞行器上，并成功进行了飞行抓取实验。开发的SOG完全由纸制成，这是一种可生物降解的材料。当SOG因事故或劣化掉落地面时，有望作为一种回归土壤、不破坏环境的绿色抓取装置。