Origami-inspired modular electro-ribbon actuator for multi-degrees of freedom motion
Author(s)
Hou, Ningzhe
Wen, Jian
Pan, Yuhan
Taghavi, Majid
Type
Journal Article
Abstract
Origami robots, inspired by an ancient form of paper folding art, are capable of achieving high displacement in a lightweight and compact design that conventional robots can hardly attain. It, however, remains a challenge to drive origami robots with in situ active materials that imply minimal added mass and complexity and can be easily controlled to achieve multiple actuation modalities. Herein, inspired by the Twisted Tower origami structure, dielectrophoretic liquid zipping actuation concept is employed to develop a modular architecture, capable of achieving complicated motions with multiple degrees of freedom (DoF). The experimental results show a maximum of 3.9 degrees tilting per layer toward any desired direction, a 56.1% contraction of the original length, and 5.4 degrees twisting per layer. Each layer can generate a maximum contractile force of 1.03 N with a maximum 64.7% power efficiency and 2.775 W kg−1 power-to-weight ratio. A modified heterochiral arrangement of this modular actuator is proposed to enhance controllability across various movement modes. Its use in robotic-wrist-like actuation has been demonstrated, highlighting its significant potential for integration into soft robotic multi-DoF structures, such as continuum arms.
Date Issued
2024-06-01
Date Acceptance
2024-04-01
Citation
Advanced Intelligent Systems, 2024, 6 (6)
ISSN
2640-4567
Publisher
Wiley
Journal / Book Title
Advanced Intelligent Systems
Volume
6
Issue
6
Copyright Statement
© 2024 The Authors. Advanced Intelligent Systems published by Wiley-VCH GmbH This is an open access article under the terms of the Creative Commons Attribution License, which permits use, distribution and reproduction in any medium, provided the original work is properly cited.
License URL
Identifier
10.1002/aisy.202300738
Subjects
Automation & Control Systems
Computer Science
Computer Science, Artificial Intelligence
dielectrophoretic liquid zipping
electro-ribbon
modular
multi-degrees of freedom
origami
Robotics
Science & Technology
Technology
Publication Status
Published
Article Number
2300738
Date Publish Online
2024-04-08