Design and experiment of a novel pneumatic soft arm based on a deployable origami exoskeleton

doi:10.1007/s11465-023-0770-2

Frontiers of Mechanical Engineering

2023, Vol. 18

Issue (4): 54 https://doi.org/10.1007/s11465-023-0770-2

本期目录

Design and experiment of a novel pneumatic soft arm based on a deployable origami exoskeleton

Yuwang LIU^1,²(

), Wenping SHI^1,^2,³, Peng CHEN^1,^2,⁴, Yi YU^1,^2,⁴, Dongyang ZHANG^1,², Dongqi WANG^1,²

¹. State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
². Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China
³. School of Mechanical Engineering, Northeastern University, Shenyang 110000, China
⁴. University of Chinese Academy of Sciences, Beijing 100049, China

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Abstract：

Soft arms have shown great application potential because of their flexibility and compliance in unstructured environments. However, soft arms made from soft materials exhibit limited cargo-loading capacity, which restricts their ability to manipulate objects. In this research, a novel soft arm was developed by coupling a rigid origami exoskeleton with soft airbags. The joint module of the soft arm was composed of a deployable origami exoskeleton and three soft airbags. The motion and load performance of the soft arm of the eight-joint module was tested. The developed soft arm withstood at least 5 kg of load during extension, contraction, and bending motions; exhibited bistable characteristics in both fully contracted and fully extended states; and achieved a bending angle of more than 240° and a contraction ratio of more than 300%. In addition, the high extension, contraction, bending, and torsional stiffnesses of the soft arm were experimentally demonstrated. A kinematic-based trajectory planning of the soft arm was performed to evaluate its error in repetitive motion. This work will provide new design ideas and methods for flexible manipulation applications of soft arms.

Key words： pneumatic soft arm soft airbag deployable origami exoskeleton bistable characteristics cargo-loading capacity

收稿日期: 2023-01-20 出版日期: 2023-12-27

Corresponding Author(s): Yuwang LIU

引用本文:

. [J]. Frontiers of Mechanical Engineering, 2023, 18(4): 54.
Yuwang LIU, Wenping SHI, Peng CHEN, Yi YU, Dongyang ZHANG, Dongqi WANG. Design and experiment of a novel pneumatic soft arm based on a deployable origami exoskeleton. Front. Mech. Eng., 2023, 18(4): 54.

链接本文:

https://academic.hep.com.cn/fme/CN/10.1007/s11465-023-0770-2
https://academic.hep.com.cn/fme/CN/Y2023/V18/I4/54

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F	Applied force
h	Half the height of the waterbomb origami structure
i	ith joint module
k_i	Curvature of the ith joint module
$K α$ , $K β$ , $K χ$	Stiffnesses in the fully contracted, extended, and intermediate state, respectively
M	Torque
$O i$	Position of the coordinate origin of the upper platform of the ith joint module
$i ? 1 p i$	Column vector of the ith joint module positions
r	Radius of the joint module
$i i ? 1 R$	Rotation matrix of the ith joint module
s_i	Arc length of the ith joint module
t	Thickness of the waterbomb origami structure
$i ? 1 i T$	Homogeneous matrix of the ith joint module
x_i, y_i, z_i	X, Y, and Z coordinate values of the end of the ith joint module, respectively
Y_i, Z_i	Y- and Z-axis of the coordinate system at the end of the ith joint module, respectively
$α$	Bending angle of soft arm
$β i$	Rotation angle of the end of the ith joint module around $Z i$
$μ$	Design angle of the origami pattern
$λ$	Folding angle of the waterbomb origami structure
$?$	Displacement of soft arm
$φ i$	Deflection angle of the ith joint module
$χ i$	Rotation angle of the end of the ith joint module around Y_i
$δ i$	Rotation angle of the end of the ith joint module around X_i

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