Origami-Based Vacuum Pneumatic Artificial Muscles with Large Contraction Ratios

Area of Science:

• Robotics and Mechanical Engineering
• Materials Science

Background:

• Pneumatic artificial muscles (PAMs) are crucial for soft robotics.
• Existing PAMs often face limitations in force generation, contraction ratio, or operational pressure.

Purpose of the Study:

• To introduce a novel origami-based vacuum pneumatic artificial muscle (OV-PAM).
• To demonstrate OV-PAM's capability for high force output and large contraction ratios at low vacuum pressures.
• To develop a predictive analytical model for OV-PAM design and behavior.

Main Methods:

• Design and fabrication of OV-PAM using origami principles and sealed film chambers.
• Experimental characterization of force output, contraction ratio, and performance under varying vacuum pressures.
• Development of a quasistatic analytical model to predict actuator behavior.

Main Results:

• OV-PAM achieves forces exceeding 400 N with contraction ratios greater than 90%.
• Actuators can lift substantial loads at low vacuum pressures (≈10 kPa).
• The analytical model accurately predicts OV-PAM performance.

Conclusions:

• OV-PAM offers a lightweight, high-performance actuation solution.
• Its versatility and efficiency at low pressures make it suitable for diverse applications.
• OV-PAM technology advances the potential for human-robot interaction and collaboration.