Institute of Assembly Technology and Robotics Research Publications
Robust 3D Printed Modular Soft Pneumatic Actuator using Origami Concept for High Contraction Soft System

Robust 3D Printed Modular Soft Pneumatic Actuator using Origami Concept for High Contraction Soft System

Categories Konferenz (reviewed)
Year 2021
Authors Sandoval-Castro, X. Y.; Garcia Morales, D. S.; Castillo-Castaneda, E.; Raatz, A.
Published in Proc. Of The 5th IEEE/IFToMM Int. Conf. on Reconfigurable Mechanisms and Robots, August 12-14, 2021, Toronto, Canada (ReMAR), 2021, pp. 598-607
Description

Soft Robotics offers an opportunity to fabricate more adaptable systems to be used outside industrial areas. For practical applications of soft robots, their active parts should achieve high forces and considerable displacements, keeping the structures lightweight, modular, and easy to fabricate. Consequently, robust and predictable motion actuators with easy manufacture are required. This paper applies the origami concept to address a 3D printed low-weight modular soft pneumatic linear actuator denoted ORI-Structure. The presented structure has a high contraction rate (up to 52.5%) and can lift 1161.64x its weight. Additionally, we present a more complex module with 3 DOF formed with the ORI-Structure. The module can displace linearly with a high-contraction rate (up to 52.5%), and it can rotate in two axes up to 42°. In both cases, the module exhibits high-lifting capabilities (611.53x its weight). In both cases, simulation and experiments are introduced to describe the design parameters and their performances.

DOI 10.32920/19469876.v1