Programmable Fluidic Networks Design for Robotic Origami Sequential Self-Folding

Abstract

Self-folding enables compact, deployable and reconfigurable structures for close and far remote applications. As the degree-of-freedom in achieving folded shapes is dictated by the number of actuators, distributed on a quasi-2-D lattice, their design remains challenging in terms of size, weight, efficiency, repeatability and fabrication. While the traditional electric motors are difficult to downscale and assemble, the active materialbased actuators consume high power and are limited by slow and irreversible motions. Here we present a new selective fluiddriven actuation and embedment method for constructing multicreased, self-folding and reversible robotic origami structures. Our design enables an underactuated, yet a distributed control of origami hinges with single and multi-step folding sequence by programming the fluidic networks. The proposed tunable fluidic actuator-channel networks are compactly embedded in a rapid multi-layer lamination process with minimal assembly. We provide an analytic model for the folding actuator unit, validate it with several prototypes and demonstrate its integration into complex networks for folding multi-hinged tessellations, including Miura-ori and sequentially folding box patterns.

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

“…The most important part is the actuation method of the pneumatic origami bellow to adjust its height. According to our previous work [28], it is quite difficult to keep the bellow air-tight at relatively high air pressure and the output force is limited. Here, we propose a novel design of a pneumatic origami bellow by combining origami and soft robotic technology.…”

Closed-Loop Position Control of a Self-Sensing 3-DoF Origami Module With Pneumatic Actuators

“…As alternatives to the tendon-driven actuators, various actuation methods integrated with origami designs have been investigated such as electronic motors [35], piezoelectric materials [36], shape memory alloys (SMAs) and polymers (SMPs) [37], magnetics [38], and dielectric elastomers [39]. Apart from these methods, pneumatic actuation method offers some advantages over the previous methods, such as a high power-to-weight ratio, intrinsic compliance, safe actuation, and relatively fast actuation [40]- [42]. Especially, planar pneumatic pouch actuators provide easy integration with origami-inspired mechanisms.…”