Ternary Origami Spring Actuator: Multimodal Deformation via Programmable Folding Sequences for Bioinspired Soft...

Area of Science:

• Robotics
• Materials Science
• Mechanical Engineering

Background:

• Conventional origami structures have limited deformation modes.
• Multimodal origami designs often require multiple actuators.
• Addressing these limitations is crucial for advanced soft robotics.

Purpose of the Study:

• To propose a ternary origami spring structure with integrated multimodal deformations.
• To achieve single pneumatic source-driven actuation for reconfigurable origami.
• To explore programmable shape deployment for soft robotic applications.

Main Methods:

• Designed a ternary origami spring structure with three interwoven inflatable strips.
• Developed a simulation algorithm to predict shape deployment based on folding sequences.
• Fabricated functional prototypes based on bio-inspired principles to validate performance.

Main Results:

• Demonstrated that editing the folding sequence generates complex spatial trajectories.
• Validated the shape-programming capabilities and operational efficacy of the fabricated prototypes.
• Confirmed the potential for single pneumatic source-driven multimodal actuation.

Conclusions:

• The proposed ternary origami spring is a programmable and reconfigurable actuator.
• This technology shows significant potential for autonomous design and rapid prototyping.
• The soft robotic system is suitable for unmanned deployment in space applications.