Design and Analysis of Reconfigurable Origami-Based Vacuum Pneumatic Artificial Muscles for Versatile Robotic System.

Area of Science:

• Robotics
• Materials Science
• Mechanical Engineering

Background:

• Traditional robotic systems often lack adaptability for dynamic task requirements.
• Modular actuator systems offer potential for reconfigurable robotic designs.

Purpose of the Study:

• To present a novel vacuum-based modular actuator system: reconfigurable origami-based vacuum pneumatic artificial muscles (ROV-PAMs).
• To demonstrate the system's reconfigurability and potential for flexible automation.

Main Methods:

• Development of six types of actuating modules and three fluidic supporting modules with magnetic connectors.
• Derivation and experimental verification of a simple analytical model for actuating modules based on energy conservation.
• Construction of a block sorting robot using ROV-PAM modules.

Main Results:

• ROV-PAM modules can be assembled to modify system behavior, extend working range, create complex geometries, and improve performance.
• The analytical model provides reasonable predictions of module performance.
• A prototype robot successfully demonstrated flexible assembly for diverse tasks.

Conclusions:

• The ROV-PAM system offers a flexible and easily assembled approach to robotic design.
• This technology supports on-the-fly alteration of robotic functionality for evolving automation needs.