Title | Origami-inspired soft twisting actuator |
Author | |
Publication Years | 2022-11-01
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DOI | |
Source Title | |
ISSN | 2169-5172
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EISSN | 2169-5180
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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
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SUSTech Authorship | First
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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]
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WOS Research Area | Robotics
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WOS Subject | Robotics
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WOS Accession No | WOS:000890465400001
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Publisher | |
Data Source | 人工提交
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PDF url | https://www.liebertpub.com/doi/epdf/10.1089/soro.2021.0185 |
Citation statistics |
Cited Times [WOS]:5
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Document Type | Journal Article |
Identifier | http://kc.sustech.edu.cn/handle/2SGJ60CL/415769 |
Department | Department 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 Affilication | Department of Mechanical and Energy Engineering |
First Author's First Affilication | Department 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.
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APA |
Diancheng Li.,Dongliang Fan.,Renjie Zhu.,Qiaozhi Lei.,Yuxuan Liao.,...&Hongqiang Wang.(2022).Origami-inspired soft twisting actuator.Soft Robotics.
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MLA |
Diancheng Li,et al."Origami-inspired soft twisting actuator".Soft Robotics (2022).
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Files in This Item: | ||||||
File Name/Size | DocType | Version | Access | License | ||
soro.2021.0185.pdf(2199KB) | Restricted Access | -- |
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