中文版 | English
Title

Origami-inspired soft twisting actuator

Author
Publication Years
2022-11-01
DOI
Source Title
ISSN
2169-5172
EISSN
2169-5180
Abstract

Soft actuators have shown great advantages in compliance and morphology matched for manipulation ofdelicate objects and inspection in a confined space. There is an unmet need for a soft actuator that can providetorsional motion to, for example, enlarge working space and increase degrees of freedom. Toward this goal, wepresent origami-inspired soft pneumatic actuators (OSPAs) made from silicone. The prototype can output arotation of more than one revolution (up to 435_), more significant than its counterparts. Its rotation ratio( = rotation angle/aspect ratio) is more than 136_, about twice the largest one in other literature. We describe thedesign and fabrication method, build the analytical model and simulation model, and analyze and optimize theparameters. Finally, we demonstrate the potentially extensive utility of the OSPAs through their integration intoa gripper capable of simultaneously grasping and lifting fragile or flat objects, a versatile robot arm capable ofpicking and placing items at the right angle with the twisting actuators, and a soft snake robot capable ofchanging attitude and directions by torsion of the twisting actuators.

Keywords
URL[Source Record]
Indexed By
Language
English
SUSTech Authorship
First
Funding Project
National Natural Science Foundation of China[52275021] ; Natural Science Foundation of Guangdong Province of China[2020A1515010955] ; Science, Technology and Innovation Commission of Shenzhen Municipality[ZDSYS20200811143601004] ; Natural Science Foundation of Liaoning Province of China[2021-KF-22-11] ; Southern Marine Science and Engineering Guangdong Laboratory (Guangzhou)[K19313901]
WOS Research Area
Robotics
WOS Subject
Robotics
WOS Accession No
WOS:000890465400001
Publisher
Data Source
人工提交
PDF urlhttps://www.liebertpub.com/doi/epdf/10.1089/soro.2021.0185
Citation statistics
Cited Times [WOS]:5
Document TypeJournal Article
Identifierhttp://kc.sustech.edu.cn/handle/2SGJ60CL/415769
DepartmentDepartment of Mechanical and Energy Engineering
Affiliation
1.Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems, Department of Mechanical and Energy Engineering,Southern University of Science and Technology, Shenzhen, China
2.Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities, Southern University ofScience and Technology, Shenzhen, China
3.Education Center of Experiments and Innovations, Harbin Institute of Technology (Shenzhen), Shenzhen, China
4.Southern Marine Science and Engineering Guangdong Laboratory (Guangzhou), Guangzhou, China
5.School of Mechanical Engineering and Automation, Harbin Institute of Technology (Shenzhen), Shenzhen, China
First Author AffilicationDepartment of Mechanical and Energy Engineering
First Author's First AffilicationDepartment of Mechanical and Energy Engineering
Recommended Citation
GB/T 7714
Diancheng Li,Dongliang Fan,Renjie Zhu,et al. Origami-inspired soft twisting actuator[J]. Soft Robotics,2022.
APA
Diancheng Li.,Dongliang Fan.,Renjie Zhu.,Qiaozhi Lei.,Yuxuan Liao.,...&Hongqiang Wang.(2022).Origami-inspired soft twisting actuator.Soft Robotics.
MLA
Diancheng Li,et al."Origami-inspired soft twisting actuator".Soft Robotics (2022).
Files in This Item:
File Name/Size DocType Version Access License
soro.2021.0185.pdf(2199KB) Restricted Access--
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