A model for multi-input mechanical advantage in origami-based mechanisms

Mechanical advantage is traditionally defined for single-input and single-output rigidbody mechanisms. A generalized approach for identifying single-output mechanical advantage for a multiple-input compliant mechanism, such as many origami-based mechanisms, would prove useful in predicting complex mechanism behavior. While origamibased mechanisms are capable of offering unique solutions to engineering problems, the design process of such mechanisms is complicated by the interaction of motion and forces. This paper presents a model of the mechanical advantage for multi-input compliant mechanisms and explores how modifying the parameters of a model affects their behavior. The model is used to predict the force-deflection behavior of an origami-based mechanism (Oriceps) and is verified with experimental data from magnetic actuation of the mechanism.