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

doi:10.1007/s11465-023-0770-2

Front. Mech. Eng.

2023, Vol. 18

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

RESEARCH ARTICLE

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

Download: PDF(7129 KB) HTML
Export: BibTeX | EndNote | Reference Manager | ProCite | RefWorks

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.

Keywords pneumatic soft arm soft airbag deployable origami exoskeleton bistable characteristics cargo-loading capacity

Corresponding Author(s): Yuwang LIU

Just Accepted Date: 01 November 2023 Issue Date: 27 December 2023

Cite this article:

Yuwang LIU,Wenping SHI,Peng CHEN, et al. Design and experiment of a novel pneumatic soft arm based on a deployable origami exoskeleton[J]. Front. Mech. Eng., 2023, 18(4): 54.

URL:

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

Fig.1 Design of the soft arm: (a) overall side image of the soft arm, (b) overall concept of the soft arm, (c) concept of the joint module of the soft arm, and (d) physical prototype configuration process of the joint module.

Fig.2 Deployable origami exoskeleton: (a) concept of waterbomb origami pattern, (b) waterbomb origami structure with a thick panel, (c) configuration process of the thick-panel waterbomb origami structure, and (d) the process of making a thick-panel waterbomb origami structure.

Fig.3 Soft airbag: (a) diagram of crease pattern and (b) photo images of external convex and internal concave patterns.

Fig.4 Kinematic modeling of the soft arm: (a) general kinematic model of the soft arm and (b) representation of kinematic parameters on the joint module.

Fig.5 Experimental apparatus of the soft arm: (a) experimental system and (b) control scheme.

Fig.6 Extension and contraction performance test of the soft arm: (a) measurement of the expansion ratio of the soft arm, (b) loading experiments of the soft arm in fully contracted and fully expanded states, (c) motion displacement analysis of the soft arm under different loading conditions, and (d) motion stiffness analysis of the soft arm under different loading conditions.

Fig.7 Bending performance test of the soft arm: (a) evaluation of the bending angle of the soft arm (0 kg), (b) loading experiment at a moment in the flexed state of the soft arm (0 and 5 kg), (c) bending angle of the soft arm, and (d) effect of different loads on the bending angle of the soft arm.

Fig.8 Torsional performance test of the soft arm: (a) torsional stiffness experimental platform and (b) testing the torsional stiffness of the soft arm under different configurations.

Fig.9 Prototype of the soft arm in 3D space.

Fig.10 Trajectory planning of the straight line: (a) spatial configuration state of the soft arm and (b) repeat accuracy of the endpoint of the soft arm; trajectory planning of the circle: (c) spatial configuration state of the soft arm and (d) repeat accuracy of the endpoint of the soft arm.

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

1	C Laschi , B Mazzolai , M Cianchetti . Soft robotics: technologies and systems pushing the boundaries of robot abilities. Science Robotics, 2016, 1(1): eaah3690 https://doi.org/10.1126/scirobotics.aah3690
2	B Mazzolai , C Laschi . A vision for future bioinspired and biohybrid robots. Science Robotics, 2020, 5(38): eaba6893 https://doi.org/10.1126/scirobotics.aba6893
3	F Renda , M Giorelli , M Calisti , M Cianchetti , C Laschi . Dynamic model of a multibending soft robot arm driven by cables. IEEE Transactions on Robotics, 2014, 30(5): 1109–1122 https://doi.org/10.1109/TRO.2014.2325992
4	K Oliver-Butler , J Till , C Rucker . Continuum robot stiffness under external loads and prescribed tendon displacements. IEEE Transactions on Robotics, 2019, 35(2): 403–419 https://doi.org/10.1109/TRO.2018.2885923
5	Z Y Gong , X Fang , X Y Chen , J H Cheng , Z X Xie , J Q Liu , B H Chen , H Yang , S H Kong , Y F Hao , T M Wang , L Yu J Z Wen . A soft manipulator for efficient delicate grasping in shallow water: modeling, control, and real-world experiments. The International Journal of Robotics Research, 2021, 40(1): 449–469 https://doi.org/10.1177/0278364920917203
6	P Chen , T W Yuan , Y Yu , Y W Liu . Design and modeling of a novel soft parallel robot driven by endoskeleton pneumatic artificial muscles. Frontiers of Mechanical Engineering, 2022, 17(2): 22 https://doi.org/10.1007/s11465-022-0678-2
7	G Olson , S Chow , A Nicolai , C Branyan , G Hollinger , Y Mengüç . A generalizable equilibrium model for bending soft arms with longitudinal actuators. The International Journal of Robotics Research, 2021, 40(1): 148–177 https://doi.org/10.1177/0278364919880259
8	M A Robertson , J Paik . New soft robots really suck: vacuum-powered systems empower diverse capabilities. Science Robotics, 2017, 2(9): eaan6357 https://doi.org/10.1126/scirobotics.aan6357
9	L S Novelino , Q J Ze , S Wu , G H Paulino , R K Zhao . Untethered control of functional origami microrobots with distributed actuation. Proceedings of the National Academy of Sciences, 2020, 117(39): 24096–24101 https://doi.org/10.1073/pnas.2013292117
10	Y Kim , G A Parada , S D Liu , X H Zhao . Ferromagnetic soft continuum robots. Science Robotics, 2019, 4(33): eaax7329 https://doi.org/10.1126/scirobotics.aax7329
11	L Margheri , C Laschi , B Mazzolai . Soft robotic arm inspired by the octopus: I. From biological functions to artificial requirements. Bioinspiration & Biomimetics, 2012, 7(2): 025004 https://doi.org/10.1088/1748-3182/7/2/025004
12	Y She , J Chen , H L Shi , H J Su . Modeling and validation of a novel bending actuator for soft robotics applications. Soft Robotics, 2016, 3(2): 71–81 https://doi.org/10.1089/soro.2015.0022
13	E W Hawkes , L H Blumenschein , J D Greer , A M Okamura . A soft robot that navigates its environment through growth. Science Robotics, 2017, 2(8): eaan3028 https://doi.org/10.1126/scirobotics.aan3028
14	H Jiang , Z C Wang , Y S Jin , X T Chen , P J Li , Y H Gan , S Lin , X P Chen . Hierarchical control of soft manipulators towards unstructured interactions. The International Journal of Robotics Research, 2021, 40(1): 411–434 https://doi.org/10.1177/0278364920979367
15	Y S Xu , L Qiu , S F Yuan . Fabrication and actuation performance of selective laser melting additive-manufactured active shape-memory alloy honeycomb arrays. Actuators, 2022, 11(9): 242 https://doi.org/10.3390/act11090242
16	N G Cheng , A Gopinath , L F Wang , K Iagnemma , A E Hosoi . Thermally tunable, self-healing composites for soft robotic applications. Macromolecular Materials and Engineering, 2014, 299(11): 1279–1284 https://doi.org/10.1002/mame.201400017
17	J D Carlson , M R Jolly . MR fluid, foam and elastomer devices. Mechatronics, 2000, 10(4–5): 555–569 https://doi.org/10.1016/S0957-4158(99)00064-1
18	Y C Li , J C Li , T F Tian , W H Li . A highly adjustable magnetorheological elastomer base isolator for applications of real-time adaptive control. Smart Materials and Structures, 2013, 22(9): 095020 https://doi.org/10.1088/0964-1726/22/9/095020
19	A FirouzehM SalernoJ Paik. Soft pneumatic actuator with adjustable stiffness layers for multi-DOF actuation. In: Proceedings of 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems. Hamburg: IEEE, 2015, 1117–1124
20	A OgawaG ObinataK HaseA DuttaM Nakagawa. Design of lower limb prosthesis with contact pressure adjustment by MR fluid. In: Proceedings of the 30th Annual International Conference of the IEEE Engineering in Medicine and Biology Society. Vancouver: IEEE, 2008, 330–333
21	F Gandhi , S G Kang . Beams with controllable flexural stiffness. Smart Materials and Structures, 2007, 16(4): 1179 https://doi.org/10.1088/0964-1726/16/4/028
22	L LindenrothJ BackA SchoisengeierY NohH WürdemannK AlthoeferH B Liu. Stiffness-based modelling of a hydraulically-actuated soft robotics manipulator. In: Proceedings of 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems. Daejeon: IEEE, 2016, 2458–2463
23	G Gerboni , T Ranzani , A Diodato , G Ciuti , M Cianchetti , A Menciassi . Modular soft mechatronic manipulator for minimally invasive surgery (MIS): overall architecture and development of a fully integrated soft module. Meccanica, 2015, 50(11): 2865–2878
24	Y T Li , Y H Chen , Y Yang , Y Wei . Passive particle jamming and its stiffening of soft robotic grippers. IEEE Transactions on Robotics, 2017, 33(2): 446–455 https://doi.org/10.1109/TRO.2016.2636899
25	M Z Zhu , Y Mori , T Wakayama , A Wada , S Kawamura . A fully multi-material three-dimensional printed soft gripper with variable stiffness for robust grasping. Soft Robotics, 2019, 6(4): 507–519 https://doi.org/10.1089/soro.2018.0112
26	Y K Jiang , D S Chen , C Liu , J Li . Chain-like granular jamming: a novel stiffness-programmable mechanism for soft robotics. Soft Robotics, 2019, 6(1): 118–132 https://doi.org/10.1089/soro.2018.0005
27	K Saito , S Pellegrino , T Nojima . Manufacture of arbitrary cross-section composite honeycomb cores based on origami techniques. Journal of Mechanical Design, 2014, 136(5): 051011 https://doi.org/10.1115/1.4026824
28	S J Kim , D Y Lee , G P Jung , K J Cho . An origami-inspired, self-locking robotic arm that can be folded flat. Science Robotics, 2018, 3(16): eaar2915 https://doi.org/10.1126/scirobotics.aar2915
29	L J WoodJ RendonR J MalakD Hartl. An origami-inspired, SMA actuated lifting structure. In: Proceedings of ASME 2016 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. Charlotte: ASME, 2016, V05BT07A024
30	J KimD Y LeeS R KimK J Cho. A self-deployable origami structure with locking mechanism induced by buckling effect. In: Proceedings of 2015 IEEE International Conference on Robotics and Automation. Seattle: IEEE, 2015, 3166–3171
31	J Kaufmann , P Bhovad , S Y Li . Harnessing the multistability of kresling origami for reconfigurable articulation in soft robotic arms. Soft Robotics, 2022, 9(2): 212–223 https://doi.org/10.1089/soro.2020.0075
32	J G Lee , H Rodrigue . Armor-based stable force pneumatic artificial muscles for steady actuation properties. Soft Robotics, 2022, 9(3): 413–424 https://doi.org/10.1089/soro.2020.0117
33	Y Q Lin , G Yang , Y W Liang , C Zhang , W Wang , D H Qian , H Y Yang , J Zou . Controllable stiffness origami “skeletons” for lightweight and multifunctional artificial muscles. Advanced Functional Materials, 2020, 30(31): 2000349 https://doi.org/10.1002/adfm.202000349
34	W Kim , J Byun , J K Kim , W Y Choi , K Jakobsen , J Jakobsen , D Y Lee , K J Cho . Bioinspired dual-morphing stretchable origami. Science Robotics, 2019, 4(36): eaay3493 https://doi.org/10.1126/scirobotics.aay3493
35	D Y Lee , J K Kim , C Y Sohn , J M Heo , K J Cho . High-load capacity origami transformable wheel. Science Robotics, 2021, 6(53): eabe0201 https://doi.org/10.1126/scirobotics.abe0201
36	Y Chen , R Peng , Z You . Origami of thick panels. Science, 2015, 349(6246): 396–400 https://doi.org/10.1126/science.aab2870
37	M HamzaC L ZekiosS V Georgakopoulos. A thick origami four-patch array. In: Proceedings of 2019 IEEE International Symposium on Antennas and Propagation and USNC-URSI Radio Science Meeting. Atlanta: IEEE, 2019, 1141–1142

Viewed

Full text

Abstract

Cited

Shared

Discussed