Yoshimura-origami Based Earthworm-like Robot With 3-dimensional Locomotion Capability

Abstract

Earthworm-like robots have received great attention due to their prominent locomotion abilities in various environments. In this research, by exploiting the extraordinary three-dimensional (3D) deformability of the Yoshimura-origami structure, the state of the art of earthworm-like robots is significantly advanced by enhancing the locomotion capability from 2D to 3D. Specifically, by introducing into the virtual creases, kinematics of the non-rigid-foldable Yoshimura-ori structure is systematically analyzed. In addition to exhibiting large axial deformation, the Yoshimura-ori structure could also bend toward different directions, which, therefore, significantly expands the reachable workspace and makes it possible for the robot to perform turning and rising motions. Based on prototypes made of PETE film, mechanical properties of the Yoshimura-ori structure are also evaluated experimentally, which provides useful guidelines for robot design. With the Yoshimura-ori structure as the skeleton of the robot, a hybrid actuation mechanism consisting of SMA springs, pneumatic balloons, and electromagnets is then proposed and embedded into the robot: the SMA springs are used to bend the origami segments for turning and rising motion, the pneumatic balloons are employed for extending and contracting the origami segments, and the electromagnets serve as anchoring devices. Learning from the earthworm’s locomotion mechanism--retrograde peristalsis wave, locomotion gaits are designed for controlling the robot. Experimental tests indicate that the robot could achieve effective rectilinear, turning, and rising locomotion, thus demonstrating the unique 3D locomotion capability.

Oribron: An Origami-Inspired Deformable Rigid Bronchoscope for Radial Support

“…For manufacturing, we chose thin films as the origami material [50,57,58], with the advantages of lightness, safety, flexibility, and durability, including polyethylene terephthalate (PET), polyimide (PI) and polytetrafluoroethylene (PTFE). Because of the lack of stability of single-layer films, we constructed double-layer films that are bonded with double-sided adhesive, and the creases were machined by laser machining techniques.…”

Toward actuation of Kresling pattern-based origami robots

“…Moreover, the mechanical response of origami is sensitive to factors such as material properties and geometric design [1]. For example, the torsional stiffness of rigid origami can be alternated by tuning the thickness of the single folding joint [43]; the folding response of a paper-based Kresling tower can be adjusted between monostable and bistable behavior by tailoring the geometric parameters [44,33]. Consequently, the response of the Kresling tower under various of mechanical conditions has been thoroughly characterized.…”

4D printed origami-inspired accordion, Kresling and Yoshimura tubes

“…In addition, the unique behaviour of the origami structure can also be utilized for soft robotic actuator applications Pagano et al, 2017. For example, Zhang et al (2021) described the design and implementation of a soft, earthworm-like robot that utilizes a non-rigid folding pattern of the Yoshimura structure to achieve 3-dimensional locomotion. Similarly, Kaufmann et al (2022) reported the development of a new type of robotic arm utilizes Kresling origami-inspired design principles to achieve high levels of flexibility and manoeuvrability.…”