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Fabrication of Soft Pneumatic Network Actuators with Oblique Chambers
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Origami-Inspired Soft Twisting Actuator.

Diancheng Li1,2, Dongliang Fan1, Renjie Zhu1

  • 1Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems, Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, China.

Soft Robotics
|November 1, 2022
PubMed
Summary
This summary is machine-generated.

Origami-inspired soft pneumatic actuators (OSPAs) offer significant torsional motion for delicate manipulation and confined space inspection. These novel actuators achieve over 435° rotation, enhancing robotic capabilities.

Keywords:
actuatororigami-inspired actuatorsoft robottwisting actuator

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Area of Science:

  • Robotics
  • Materials Science
  • Mechanical Engineering

Background:

  • Soft actuators offer compliance for delicate object manipulation and confined space inspection.
  • A need exists for soft actuators capable of torsional motion to increase workspace and degrees of freedom.

Purpose of the Study:

  • To develop and characterize origami-inspired soft pneumatic actuators (OSPAs) capable of significant torsional motion.
  • To demonstrate the utility of OSPAs in various robotic applications.

Main Methods:

  • Design and fabrication of silicone-based OSPAs.
  • Development of analytical and simulation models for parameter analysis and optimization.
  • Integration of OSPAs into robotic grippers, arms, and snake robots.

Main Results:

  • OSPAs achieve rotation exceeding one revolution (up to 435°).
  • The rotation ratio of OSPAs is over 136°, significantly higher than existing counterparts.
  • Demonstrated successful integration into functional robotic systems.

Conclusions:

  • OSPAs provide a novel solution for achieving large torsional motion in soft actuators.
  • The developed OSPAs show extensive utility in versatile robotic applications, including grasping, manipulation, and locomotion.