Origami-Based Vacuum Pneumatic Artificial Muscles with Large Contraction Ratios

Lee, Jin-Gyu; Rodrigue, Hugo

doi:10.1089/soro.2018.0063

Cited by 133 publications

(99 citation statements)

References 35 publications

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“…For example, Lee et. al., presented an origami-based vacuum pneumatic actuator (OV-PAM) using a Polyvinyl chloride (PVC) film, which generated an extremely large force of 400 N with 90% of contraction ratio [23]. Similarly, Li et.…”

Section: Introductionmentioning

confidence: 99%

Development of Ultralight Hybrid Pneumatic Artificial Muscle for Large Contraction and High Payload

Joe

Wang

Totaro

et al. 2020

2020 3rd IEEE International Conference on Soft Robotics (RoboSoft)

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This paper presents a novel pneumatic artificial muscle (PAM) that is able to generate a high payload and buckling pressure. The proposed actuator exploits open-cell foam, and 0.8 mm thick rigid rings to reinforce structure stiffness, and to implement stable contraction under depressurization. All components are embedded in a sealing elastomeric skin. The actuator can support 6.8 N of external load, which is 34.5 times greater than its own weight (20g). When depressurized, the actuator deforms stably, without buckling. The results of the preliminary experimental analysis show that it is able to contract up to 51.8% upon-80 kPa, with a 5.6% hysteresis for pressure vs. contraction ratio. Moreover, a quasistatic model is proposed to estimate the actuator blocking force, of which the measured maximum value is 32.7 N at-80 kPa vacuum. The presented actuator shows repeatable and reliable performance, providing a promising soft material solution for pneumatic driven movement.

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Section: Introductionmentioning

confidence: 99%

Development of Ultralight Hybrid Pneumatic Artificial Muscle for Large Contraction and High Payload

Joe

Wang

Totaro

et al. 2020

2020 3rd IEEE International Conference on Soft Robotics (RoboSoft)

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“…For the body, a bellow-like soft linear actuator was adopted since it has advantage of achieving large stroke when vacuumed and inflated [27]. A hard question for this design is the way to regulate movement direction of the soft linear actuator for multi-DoF motion when dealing with pipes with turns.…”

Section: System Overviewmentioning

confidence: 99%

Multimodal pipe-climbing robot with origami clutches and soft modular legs

Jiang¹,

Chen²,

Zhang³

et al. 2020

Bioinspir. Biomim.

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In nature, climbing trees and pipes of varying diameters or even navigating inside of hollow pipes and tree holes is easy for some climbing animals and insects. However, today's pipeclimbing robots, which are important for automatically conducting periodic inspections and maintenance of pipelines to save time and keep humans away from hazardous environments, are designed mainly for a specific task, limiting their adaptability to different working scenarios and further implementation in real-life. In this paper, we propose a pipe-climbing robot with a soft linear actuator for bioinspired propulsion, two origami clutches to realize multi-degrees-of-freedom (DoF) motion and two pairs of soft modular legs for multimodal climbing. Design, modeling and experimental validation of the origami clutch are introduced in detail. Preliminary experimental results show that we can achieve a stroke of up to 289.6% and a maximum 45 degrees bending angle on the soft linear actuator by regulating the air pressure inside the soft actuator and origami clutches. Additionally, by choosing the leg-type, three climbing modes, including out-pipe versatile mode, out-pipe high-force mode and inpipe mode can be realized for particular working scenarios. A prototype climbing robot demonstrates that in out-pipe versatile mode, the robot can climb on the exterior of pipes made of various materials including PVC, rubber and metal with diameters ranging from 105 to 117 mm. In the out-pipe high-force mode, the climber can navigate along a specific pipe carrying maximum 675 g external load at the top or 200 g hanging from the bottom, as well as keeping functional without failure under static loads as high as 1968 g. In the in-pipe mode, the robot is able to travel inside pipes. This research might bridge the design gap between in-pipe and out-pipe climbing robots while offering an alternative option for soft robots to execute multi-DoF motion.

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“…(a) 哈佛大学真空折纸流体驱动器 [112] , 抓取重物与自适应抓取装置; (b) 金属框架"内骨骼"线性真空驱动器 [114] Figure 12 (Color online) Endoskeleton enhanced thin-film folding actuator driven by negative pressure. (a) Fluid-driven origami-inspired artificial muscle from Harvard University [112], capturing objects and adaptive grabbing; (b) origami-based vacuum pneumatic artificial muscles based on metal "endoskeleton" [114]. [45,51] 、螺旋波纹结构或者螺旋折纸(spring origami)结构 [108,110] .…”

Section: 值得注意的是由于折叠/褶皱结构不可避免地会mentioning

confidence: 99%