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Modular Soft Robot with Origami Skin for Versatile Applications.

Tao Jin1,2,3,4, Tianhong Wang1,2, Quan Xiong3,4

  • 1Shanghai Key Laboratory of Intelligent Manufacturing and Robotics, School of Mechatronic Engineering and Automation, Shanghai University, Shanghai, China.

Soft Robotics
|March 23, 2023
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Summary
This summary is machine-generated.

Soft robotic actuators inspired by origami achieve diverse motions (contraction, bending, twisting) with a consistent cubic shape. These modular actuators enable easier maintenance and versatile robot applications.

Keywords:
modular actuationmodular soft robotorigamisoft pneumatic actuators

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Area of Science:

  • Soft robotics
  • Origami engineering
  • Materials science

Background:

  • Modular actuation is crucial for soft robot maintenance and functionality.
  • Designing soft actuators with consistent appearance for diverse motions remains challenging.
  • Origami structures offer a method for creating compact constraint layers in soft pneumatic actuators.

Purpose of the Study:

  • To present novel vacuum-driven soft actuators with a consistent cubic shape and diverse motion capabilities.
  • To demonstrate the fabrication of modular soft actuators using integrated molding techniques.
  • To explore the modularization of these actuators for versatile robotic tasks.

Main Methods:

  • Development of three types of vacuum-driven soft actuators with cubic shapes and distinct origami skins (Waterbomb and Kresling inspired).
  • Fabrication using integrated molding of silicone shells and constraint layers.
  • Characterization of actuators with varying geometrical parameters and theoretical modeling for deformation prediction.
  • Modularization using mortise and tenon-based structures for enhanced connectivity.

Main Results:

  • Successfully created three types of soft actuators exhibiting contraction, bending, and combined twisting-contraction motions.
  • Demonstrated consistent cubic shape across different motion types, facilitating modularity.
  • Optimized actuator design through geometrical parameter variation and theoretical modeling.
  • Developed modular soft robots for tasks like fragile object manipulation and locomotion.

Conclusions:

  • Origami-inspired soft actuators offer a pathway to modular, versatile robotic systems.
  • Integrated molding simplifies fabrication, while consistent shape enables efficient modular connections.
  • These modular actuators show significant potential for applications in complex manipulation and locomotion tasks.