TY - GEN

T1 - Kinematic Model and Numerical Evaluation of an Origami-Inspired Soft Pneumatic Actuator

AU - Velazquez-Flores, Karina G.

AU - Garcia-Morales, Ditzia S.

AU - Sandoval-Castro, X. Yamile

AU - Castillo-Castaneda, Eduardo

AU - Raatz, Annika

PY - 2023/4/16

Y1 - 2023/4/16

N2 - In recent years, origami structures have been gradually applied in fields not associated with art, such as robotics, aerospace, electronics, and bio-mechanics by using both, soft and hard materials. Furthermore, origami is a powerful design tool for achieving mechanical intelligence in Soft Robotics. Origami folding in combination with smart materials has been explored for constructing transformable mechanisms while simplifying designing, fabrication, and assembly, to yield compliance and exhibit soft body properties. This paper presents a pneumatic soft actuator with contraction motion actuated by negative pressure, which design is inspired by a variant of Yoshimura’s origami pattern. The main geometrical parameters according to the crease pattern, composed of 4 levels, are described. Moreover, we introduce a kinematic model based on a geometric representation of the i- th level of the actuator, considering that the contraction motion is homogeneous at each level. We derived an equation to describe the total displacement based on the sum of the contraction of the 4 levels. The kinematic model is numerically evaluated through FEM simulations to estimate its performance throughout the actuator’s range of motion. We exhibit a numerical evaluation considering no-homogeneous contraction in each level, finding an error of 2.6 % between both evaluations.

AB - In recent years, origami structures have been gradually applied in fields not associated with art, such as robotics, aerospace, electronics, and bio-mechanics by using both, soft and hard materials. Furthermore, origami is a powerful design tool for achieving mechanical intelligence in Soft Robotics. Origami folding in combination with smart materials has been explored for constructing transformable mechanisms while simplifying designing, fabrication, and assembly, to yield compliance and exhibit soft body properties. This paper presents a pneumatic soft actuator with contraction motion actuated by negative pressure, which design is inspired by a variant of Yoshimura’s origami pattern. The main geometrical parameters according to the crease pattern, composed of 4 levels, are described. Moreover, we introduce a kinematic model based on a geometric representation of the i- th level of the actuator, considering that the contraction motion is homogeneous at each level. We derived an equation to describe the total displacement based on the sum of the contraction of the 4 levels. The kinematic model is numerically evaluated through FEM simulations to estimate its performance throughout the actuator’s range of motion. We exhibit a numerical evaluation considering no-homogeneous contraction in each level, finding an error of 2.6 % between both evaluations.

KW - Contraction

KW - FEM evaluation

KW - Kinematic Model

KW - Origami

KW - Soft Pneumatic Actuator

UR - http://www.scopus.com/inward/record.url?scp=85161459220&partnerID=8YFLogxK

U2 - 10.1007/978-3-031-29815-8_9

DO - 10.1007/978-3-031-29815-8_9

M3 - Conference contribution

AN - SCOPUS:85161459220

SN - 9783031298141

VL - 124

T3 - Mechanisms and Machine Science

SP - 82

EP - 90

BT - New Advances in Mechanisms, Transmissions and Applications - Proceedings of the 6th MeTrApp Conference, 2023

A2 - Laribi, Med Amine

A2 - Nelson, Carl A.

A2 - Ceccarelli, Marco

A2 - Zeghloul, Saïd

PB - Springer Science and Business Media B.V.

T2 - 6th IFToMM International Conference on Mechanisms, Transmissions, and Applications, MeTrApp 2023

Y2 - 24 May 2023 through 26 May 2023

ER -