An Origami-Based Soft Actuator and the Application as A Soft Gripper

This study aims to investigate characteristics of origami-based elastomeric actuator and its application to soft gripper. The employed lightweight paper-elastomer structure demonstrates features of efficient actuation in three ways: (1) It experiences nearly 20% less pressure for equal bending amplitude than pneumatic network actuator (Pneu-Net) of the same weight does; and even less pressure than other actuators with non-linear bending behavior; (2) It bends fully in 50 milliseconds under pressurization at the rate of 2.4 L/min; (3) less energy is dissipated in the inflation-recovery cycle as ballooning effect is minimized in the design. Additionally, controllability is discussed by validating associations between pressure and bending angle, and between interaction force and pressure at a fixed bending angle. A soft robotic gripper comprised of three actuators is designed. Enveloping and pinch gripping experiments that performed on various shapes imply the potential of grasping a wide range of objects for many applications.

Author

• Wang, Meixin

Language

• en

Keyword

• origami
• soft robot
• soft gripper

Date created

• 2019

Type of Work

• Master's Thesis

License

• All rights reserved

Rights statement

• In Copyright

GW Unit

• Mechanical & Aerospace Engineering

Degree

• M.S.

Advisor

• Park, Chung Hyuk
• Lee, James

Committee Member(s)

• Li, Zhenyu
• Zhang, Grace

Persistent URL

•  https://scholarspace.library.gwu.edu/etd/hd76s070j