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Pneumatic Soft Actuators With Kirigami Skins.

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  • 1Dynamic Matter Laboratory, Department of Mechanical Engineering, Clemson University, Clemson, SC, United States.

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Summary

Researchers developed novel kirigami-skinned pneumatic actuators for robotics. These actuators offer pre-programmable motion and are easier to fabricate than traditional designs, simplifying robotic system development.

Keywords:
actuator kinematic analysescontinuum actuatorkirigamipneumatic actuatorsoft robotics

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Area of Science:

  • Robotics
  • Materials Science
  • Mechanical Engineering

Background:

  • Soft pneumatic actuators are crucial for robotics but difficult to fabricate.
  • Current methods involve complex processes like fiber wrapping and elastomer curing.

Purpose of the Study:

  • To introduce a novel, easily fabricated kirigami-skinned pneumatic actuator.
  • To enable pre-programmable motion in pneumatic actuators through kirigami design.
  • To develop a kinematics model for analyzing kirigami actuator deformation.

Main Methods:

  • Fabrication of pneumatic actuators using kirigami skins (plastic sleeves with slit cuts).
  • Development and experimental validation of a new kinematics model based on virtual fold and rigid-facet assumptions.
  • Testing of pressure-stroke performance and elastoplastic behaviors.

Main Results:

  • Kirigami skins transform volumetric expansion into anisotropic stretching and shearing, enabling axial extension and twisting.
  • Kirigami skin buckling near slits allows for high stretchability.
  • Actuator motion can be pre-programmed by adjusting kirigami slit angle and length.

Conclusions:

  • Kirigami-skinned pneumatic actuators offer a simpler fabrication method with programmable motion capabilities.
  • The developed kinematics model accurately links kirigami design to actuator motion.
  • This work establishes a framework for designing and analyzing a new class of robotic actuators.