Origami-inspired soft-rigid hybrid contraction actuator and its application in pipe-crawling robot

Liu, Jianbin; Ma, Guoyu; Ma, Zhuo; Zuo, Siyang

doi:10.1088/1361-665x/acd0e7

Cited by 11 publications

(1 citation statement)

References 47 publications

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“…The proposed linear actuators had several advantages over traditional actuators, such as extension ratio and easily controlled position. Liu et al [22] employed the folding technique of the Kresling pattern to develop a linear actuator that exhibited several beneficial characteristics, including low driving pressure, high deployable ratio, and fast response. Yu et al [23] developed pneumatic foldable actuators with the ability of linear and turning movements based on Miura-ori.…”

Section: Introductionmentioning

confidence: 99%

Deployable Structures Based on Non-Flat-Foldable and Non-Developable Origami with Constant Curvature

Qin,

Liu,

Wang

et al. 2024

Actuators

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Deployable structures based on origami are widely used in the application of actuators. In this paper, we present a novel family of origami-based deployable structures with constant curvature. Two categories of non-flat-foldable and non-developable degree-4 vertices (NFND degree-4 vertices) are introduced. Pyramid structures are constructed based on the NFND degree-4 vertices. Doubly symmetric and singly symmetric spherical origami tubular cells (SOTCs) are established based on pyramid structures. To construct deployable origami modules using SOTCs, linking units are introduced. The mobility of the SOTCs and origami modules is analyzed using constraint screws. To realize the construction and simulation of deployable structures, kinematic and geometric analyses of the doubly symmetric and singly symmetric SOTCs are performed. Finally, we introduce four cases for deployable structures in spherical actuators based on the combination of multiple origami modules. These case studies demonstrate the potential of these deployable origami structures in the design of spherical actuators.

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Section: Introductionmentioning

confidence: 99%

Deployable Structures Based on Non-Flat-Foldable and Non-Developable Origami with Constant Curvature

Qin,

Liu,

Wang

et al. 2024

Actuators

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Directed Instability as a Mechanism for Fabricating Multistable Twisting Microstructure

Ben‐Abu,

Abramov,

Fine

et al. 2024

Adv Eng Mater

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The study of multistable structures, particularly those that can twist, has attracted significant attention in recent years. This ability to transition between multiple stable geometries of these structures has paved the way for advances in diverse applications, such as morphing structures and robot actuation mechanisms. Conventional methods of designing and fabricating these structures often involve complex and resource‐intensive fabrication processes, which restrict their widespread adoption and limit their miniaturization. Here, we present a novel inflatable multistable twisting structure, based on helical folds of an elastic tube. Our fabrication approach utilizes directed mechanical instability as a method for a rapid fabrication, which is readily implemented at various length scales. We developed a theoretical model for the deformation of the bistable helical elements comprising the twisting structure, and compared it to experimental data. Furthermore, we demonstrate our fabrication methodology using a variety of polymers, including medical grade polymers, as well as various inner radii ranging from 5mm to 44μm and thicknesses of the tubes’ walls ranging from 250μm to 19μm .This article is protected by copyright. All rights reserved.

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3D Printed Multi‐Cavity Soft Actuator with Integrated Motion and Sensing Functionalities via Bio‐Inspired Interweaving Foldable Endomysium

Fang,

Tang,

et al. 2024

Advanced Science

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The human muscle bundle generates versatile movements with synchronous neurosensory, enabling human to undertake complex tasks, which inspires researches into functional integration of motions and sensing in actuators for robots. Although soft actuators have developed diverse motion capabilities utilizing the inherent compliance, the simultaneous‐sensing approaches typically involve adding sensing components or embedding certain‐signal‐field substrates, resulting in structural complexity and discrepant deformations between the actuation parts with high‐dimensional motions and the sensing parts with heterogeneous stiffnesses. Inspired by the muscle‐bundle multifiber mechanism, a multicavity functional integration (McFI) approach is proposed for soft pneumatic actuators to simultaneously realize multidimensional motions and sensing by separating and coordinating active and passive cavities. A bio‐inspired interweaving foldable endomysium (BIFE) is introduced to construct and reinforce the multicavity chamber with optimized purposive foldability, enabling 3D printing single‐material fabrication. Performing elongation, contraction, and bidirectional bending, the McFI actuator senses its spatial position, orientation, and axial force, based on the kinematic and sensing models built on multi‐cavity pressures. Two McFI‐actuator‐driven robots are built: a soft crawling robot with path reconstruction and a narrow‐maneuverable soft gripper with object exteroception, validating the practicality in stand‐alone use of the actuator and the potential for intelligent soft robotic innovation of the McFI approach.

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Origami-inspired soft-rigid hybrid contraction actuator and its application in pipe-crawling robot

Cited by 11 publications

References 47 publications

Deployable Structures Based on Non-Flat-Foldable and Non-Developable Origami with Constant Curvature

Deployable Structures Based on Non-Flat-Foldable and Non-Developable Origami with Constant Curvature

Directed Instability as a Mechanism for Fabricating Multistable Twisting Microstructure

3D Printed Multi‐Cavity Soft Actuator with Integrated Motion and Sensing Functionalities via Bio‐Inspired Interweaving Foldable Endomysium

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