1
|
Cao Y, Xu B, Li B, Fu H. Advanced Design of Soft Robots with Artificial Intelligence. NANO-MICRO LETTERS 2024; 16:214. [PMID: 38869734 DOI: 10.1007/s40820-024-01423-3] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 01/31/2024] [Accepted: 04/22/2024] [Indexed: 06/14/2024]
Affiliation(s)
- Ying Cao
- Nanotechnology Center, School of Fashion and Textiles, The Hong Kong Polytechnic University, Hong Kong, 999077, People's Republic of China
| | - Bingang Xu
- Nanotechnology Center, School of Fashion and Textiles, The Hong Kong Polytechnic University, Hong Kong, 999077, People's Republic of China.
| | - Bin Li
- Bioinspired Engineering and Biomechanics Center, Xi'an Jiaotong University, Xi'an, 710049, People's Republic of China
| | - Hong Fu
- Department of Mathematics and Information Technology, The Education University of Hong Kong, Hong Kong, 999077, People's Republic of China.
| |
Collapse
|
2
|
Wang C, Guo H, Liu R, Deng Z, Chen Y, You Z. Reconfigurable origami-inspired multistable metamorphous structures. SCIENCE ADVANCES 2024; 10:eadk8662. [PMID: 38809983 PMCID: PMC11135397 DOI: 10.1126/sciadv.adk8662] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 09/15/2023] [Accepted: 04/23/2024] [Indexed: 05/31/2024]
Abstract
Origami-inspired metamorphous structures can adjust their shapes and mechanical behaviors according to operational requirements. However, they are typically composed of nonrigid origami, where required facet deformation complicates actuation and makes them highly material dependent. In this study, we present a type of origami metamorphous structure composed of modular bistable units, each of which is a rigid origami. The elasticity within the origami creases and switching of mountain and valley crease lines enable it to have bistability. The resultant metamorphous structure has multistability, allowing it to switch among multifarious configurations with programmable profiles. This concept was validated by potential energy analysis and experiments. Using this concept, we developed a robotic limb capable of both lifting and gripping through configuration changes. Furthermore, we used the origami units to construct a metamaterial whose properties could change with the variation of configurations. These examples demonstrate the concept's remarkable versatility and potential for many applications.
Collapse
Affiliation(s)
- Chunlong Wang
- School of Mechanical Engineering, Tianjin University, Tianjin 300350, China
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China
| | - Hongwei Guo
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China
| | - Rongqiang Liu
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China
| | - Zongquan Deng
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China
| | - Yan Chen
- School of Mechanical Engineering, Tianjin University, Tianjin 300350, China
| | - Zhong You
- Department of Engineering Science, University of Oxford, Oxford OX1 3PJ, UK
| |
Collapse
|
3
|
Hu F, Zhang C. Origami Polyhedra-Based Soft Multicellular Robots. Soft Robot 2024; 11:244-259. [PMID: 37870759 DOI: 10.1089/soro.2023.0012] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 10/24/2023] Open
Abstract
The reconfigurable and modular method, and the adaptive morphology method are two main methodologies to achieve the multimodal robots. Basically, the former method mimics the biological multicellular systems, while the latter is mostly inspired by the multimodal animals. Herein inspired by the rhombic dodecahedron (RDD) origami model, a novel type of soft multicellular robots with multimodal locomotion is presented. Morphologically, the combinable and expandable three-dimensional (3D)-printed soft RDD cells are assembled into several typical patterns: in-line, cross shaped, oblong shaped, and parallelogra shaped. The kinematics based on the sequential monolithic deformations of soft RDDs is analyzed to generate multimodal locomotion: peristaltic crawling, two-anchor crawling, crawling with turning functions, and omnidirectional crawling through the propagating waves in two orthogonal directions. More encouragingly, without reorganizing the pattern or reshaping the morph, the in-line multicellular robots manifest excellent climbing abilities, where the built-in rhombic meshes alternately tighten and loosen the pole-like structures to provide the gripping forces reliably without sacrificing mobility. To wrap up, owing to the monolithic and hierarchical deformability, high reconfigurability, and 3D-printable manufacturability of the RDD, we anticipate that the soft multicellular robot can potentially manifest further contributions to the advanced robotics with embodied intelligence, such as task-oriented self-assembly robots, self-reconfigurable robotic systems, and goal-directed metamorphosis robots.
Collapse
Affiliation(s)
- Fuwen Hu
- Department of Mechatronics, School of Mechanical and Material Engineering, North China University of Technology, Beijing, China
| | - Chun Zhang
- Department of Mechatronics, School of Mechanical and Material Engineering, North China University of Technology, Beijing, China
| |
Collapse
|
4
|
Zhao L, Zhang T, Shang Z. Design and implementation of origami robot ROS-based SLAM and autonomous navigation. PLoS One 2024; 19:e0298951. [PMID: 38547228 PMCID: PMC10977891 DOI: 10.1371/journal.pone.0298951] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Grants] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 06/11/2023] [Accepted: 02/01/2024] [Indexed: 04/01/2024] Open
Abstract
In this study an innovative parameterized water-bomb wheel modeling method based on recursive solving are introduced, significantly reducing the modeling workload compared to traditional methods. A multi-link supporting structure is designed upon the foundation of the water-bomb wheel model. The effectiveness of the supporting structure is verified through simulations and experiments. For robots equipped with this water-bomb wheel featuring the multi-link support, base on the kinematic model of multi-link structure, a mapping algorithm that incorporates parameterized kinematic solutions and IMU-fused parameterized odometry is proposed. Based on this algorithm, SLAM and autonomous navigation experiments are carried out in simulation environment and real environment respectively. Compared with the traditional algorithm, this algorithm the precision of SLAM is enhanced, achieving high-precision SLAM and autonomous navigation with a robot error rate below 5%.
Collapse
Affiliation(s)
- Lijuan Zhao
- School of mechanical engineering, Liaoning Technical University, Fuxin, China
- The State Key Lab of Mining Machinery Engineering of Coal Industry, Liaoning Technical University, Fuxin, China
| | - Tianyi Zhang
- School of mechanical engineering, Liaoning Technical University, Fuxin, China
| | - Zuen Shang
- School of mechanical engineering, Liaoning Technical University, Fuxin, China
| |
Collapse
|
5
|
Yoon H, Kim S, Park I, Heo J, Kim HS, Seo T. 2 DOF transformable wheel design based on geared 8 bar parallel linkage mechanism. Sci Rep 2024; 14:379. [PMID: 38172582 PMCID: PMC10764349 DOI: 10.1038/s41598-023-50804-y] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 10/10/2023] [Accepted: 12/26/2023] [Indexed: 01/05/2024] Open
Abstract
This paper introduces a novel design and static optimization for a two-degrees-of-freedom transformable wheel based on a geared linkage mechanism. Overcoming obstacles, including stairs, with small wheels is a major challenge in the field of mobile robotics research. Among various robots, the transformable wheel, which can change the shape of the wheel to overcome steps and optimize the path, was presented and has undergone many improvements. Nevertheless, problems such as asymmetry and structural strength remain. Therefore, the design of this paper aims to address the structural inefficiencies identified in the previous research model, which were attributed to the asymmetric placement of the linear motion guide. Through the implementation of this mechanism, the linear motion of the lobe can be segregated, enabling each input motor to share the workload effectively. The optimization process focus on determining the optimal linkage length under static conditions, resulting in improved structural characteristics and force distribution of linkage within the designated workspace. As a result, asymmetry of motion is eliminated, required intervention angle of the driving motor and stress of linkage was reduced by 36.24% and 8.35%, respectively.
Collapse
Affiliation(s)
- Hyeungyu Yoon
- School of Mechanical Engineering, Hanyang University, Seoul, 04763, Republic of Korea
| | - SangGyun Kim
- School of Mechanical Engineering, Hanyang University, Seoul, 04763, Republic of Korea
| | - Inha Park
- School of Mechanical Engineering, Hanyang University, Seoul, 04763, Republic of Korea
| | - Jaeyeong Heo
- School of Mechanical Engineering, Hanyang University, Seoul, 04763, Republic of Korea
| | - Hwa Soo Kim
- Department of Mechanical Systems Engineering, Kyonggi University, Suwon, 16227, Republic of Korea.
| | - TaeWon Seo
- School of Mechanical Engineering, Hanyang University, Seoul, 04763, Republic of Korea.
| |
Collapse
|
6
|
Addis CC, Rojas S, Arrieta AF. Connecting the branches of multistable non-Euclidean origami by crease stretching. Phys Rev E 2023; 108:055001. [PMID: 38115478 DOI: 10.1103/physreve.108.055001] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/20/2023] [Accepted: 10/02/2023] [Indexed: 12/21/2023]
Abstract
Non-Euclidean origami is a promising technique for designing multistable deployable structures folded from nonplanar developable surfaces. The impossibility of flat foldability inherent to non-Euclidean origami results in two disconnected solution branches each with the same angular deficiency but opposite handedness. We show that these regions can be connected via "crease stretching," wherein the creases exhibit extensibility in addition to torsional stiffness. We further reveal that crease stretching acts as an energy storage method capable of passive deployment and control. Specifically, we show that in a Miura-Ori system with a single stretchable crease, this is achieved via two unique, easy to realize, equilibrium folding pathways for a certain wide set of parameters. In particular, we demonstrate that this connection mostly preserves the stable states of the non-Euclidean system, while resulting in a third stable state enabled only by the interaction of crease torsion and stretching. Finally, we show that this simplified model can be used as an efficient and robust tool for inverse design of multistable origami based on closed-form predictions that yield the system parameters required to attain multiple, desired stable shapes. This facilitates the implementation of multistable origami for applications in architecture materials, robotics, and deployable structures.
Collapse
Affiliation(s)
- Clark C Addis
- Programmable Structures Lab, School of Mechanical Engineering, Purdue University, West Lafayette, Indiana 47907, USA
| | - Salvador Rojas
- Programmable Structures Lab, School of Mechanical Engineering, Purdue University, West Lafayette, Indiana 47907, USA
| | - Andres F Arrieta
- Programmable Structures Lab, School of Mechanical Engineering, Purdue University, West Lafayette, Indiana 47907, USA
| |
Collapse
|
7
|
Zare S, Spaeth A, Suresh S, Teodorescu M. Three-Dimensionally Printed Self-Lock Origami: Design, Fabrication, and Simulation to Improve Performance of Rotational Joint. MICROMACHINES 2023; 14:1649. [PMID: 37630185 PMCID: PMC10456827 DOI: 10.3390/mi14081649] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 07/01/2023] [Revised: 08/14/2023] [Accepted: 08/17/2023] [Indexed: 08/27/2023]
Abstract
Origami structures have made significant contributions to the field of robotics, offering various advantages. One such advantage is their ability to conserve space by transforming the structure into a compact form. Additionally, many origami structures can be fabricated in a flat state to simplify manufacturing, giving them the potential for large-scale and cost-effective production. Rotational joints play a crucial role in the construction of robotic systems, yet origami rotational joints can suffer from a limited range of motion. We previously theoretically proposed the Self-Lock Joint to address this issue, but it is only partially flat-foldable. This paper presents a novel approach to the 3D printing of modular origami joints, such as the Self-Lock Joint, using 3D-printed plates joined with a fabric layer. The compliance of the fabric can improve the joint's semi flat-foldability or even enable it to achieve complete flat-foldability. Furthermore, the rotational motion of the joint is enhanced, allowing for close to 360 degrees of rotational movement. We assess the physical properties of the joint under both loaded and unloaded conditions in order to identify design trade-offs in the physical properties of the joints. Moreover, as a proof of concept, we construct and demonstrate manipulators utilizing these joints. The increase in rotational movement enabled by this fabrication method, coupled with the compliant joint's flat-foldability and modular nature, make it a promising candidate for use in a wide range of applications.
Collapse
Affiliation(s)
- Samira Zare
- Department of Electrical and Computer Engineering, University of California Santa Cruz, Santa Cruz, CA 95064, USA;
| | - Alex Spaeth
- Department of Electrical and Computer Engineering, University of California Santa Cruz, Santa Cruz, CA 95064, USA;
| | - Sandya Suresh
- SIP Program, University of California Santa Cruz, Santa Cruz, CA 95064, USA;
| | - Mircea Teodorescu
- Department of Electrical and Computer Engineering, University of California Santa Cruz, Santa Cruz, CA 95064, USA;
| |
Collapse
|
8
|
Wang D, Zhao B, Li X, Dong L, Zhang M, Zou J, Gu G. Dexterous electrical-driven soft robots with reconfigurable chiral-lattice foot design. Nat Commun 2023; 14:5067. [PMID: 37604806 PMCID: PMC10442442 DOI: 10.1038/s41467-023-40626-x] [Citation(s) in RCA: 2] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 12/28/2022] [Accepted: 08/04/2023] [Indexed: 08/23/2023] Open
Abstract
Dexterous locomotion, such as immediate direction change during fast movement or shape reconfiguration to perform diverse tasks, are essential animal survival strategies which have not been achieved in existing soft robots. Here, we present a kind of small-scale dexterous soft robot, consisting of an active dielectric elastomer artificial muscle and reconfigurable chiral-lattice foot, that enables immediate and reversible forward, backward and circular direction changes during fast movement under single voltage input. Our electric-driven soft robot with the structural design can be combined with smart materials to realize multimodal functions via shape reconfigurations under the external stimulus. We experimentally demonstrate that our dexterous soft robots can reach arbitrary points in a plane, form complex trajectories, or lower the height to pass through a narrow tunnel. The proposed structural design and shape reconfigurability may pave the way for next-generation autonomous soft robots with dexterous locomotion.
Collapse
Affiliation(s)
- Dong Wang
- State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, 200240, Shanghai, China.
- Meta Robotics Institute, Shanghai Jiao Tong University, 200240, Shanghai, China.
| | - Baowen Zhao
- State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, 200240, Shanghai, China
| | - Xinlei Li
- State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, 200240, Shanghai, China
| | - Le Dong
- State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, 200240, Shanghai, China
| | - Mengjie Zhang
- State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, 200240, Shanghai, China
| | - Jiang Zou
- State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, 200240, Shanghai, China
| | - Guoying Gu
- State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, 200240, Shanghai, China.
- Meta Robotics Institute, Shanghai Jiao Tong University, 200240, Shanghai, China.
| |
Collapse
|
9
|
Kim S, Treers LK, Huh TM, Stuart HS. Efficient reciprocating burrowing with anisotropic origami feet. Front Robot AI 2023; 10:1214160. [PMID: 37600474 PMCID: PMC10433778 DOI: 10.3389/frobt.2023.1214160] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/29/2023] [Accepted: 07/03/2023] [Indexed: 08/22/2023] Open
Abstract
Origami folding is an ancient art which holds promise for creating compliant and adaptable mechanisms, but has yet to be extensively studied for granular environments. At the same time, biological systems exploit anisotropic body forces for locomotion, such as the frictional anisotropy of a snake's skin. In this work, we explore how foldable origami feet can be used to passively induce anisotropic force response in granular media, through varying their resistive plane. We present a reciprocating burrower which transfers pure symmetric linear motion into directed burrowing motion using a pair of deployable origami feet on either end. We also present an application of the reduced order model granular Resistive Force Theory to inform the design of deformable structures, and compare results with those from experiments and Discrete Element Method simulations. Through a single actuator, and without the use of advanced controllers or sensors, these origami feet enable burrowing locomotion. In this paper, we achieve burrowing translation ratios-net forward motion to overall linear actuation-over 46% by changing foot design without altering overall foot size. Specifically, anisotropic folding foot parameters should be tuned for optimal performance given a linear actuator's stroke length.
Collapse
Affiliation(s)
- Sareum Kim
- Embodied Dexterity Group, Department of Mechanical Engineering, University of California Berkeley, Berkeley, CA, United States
| | - Laura K. Treers
- Embodied Dexterity Group, Department of Mechanical Engineering, University of California Berkeley, Berkeley, CA, United States
| | - Tae Myung Huh
- Department of Electrical and Computer Engineering, University of California Santa Cruz, Santa Cruz, CA, United States
| | - Hannah S. Stuart
- Embodied Dexterity Group, Department of Mechanical Engineering, University of California Berkeley, Berkeley, CA, United States
| |
Collapse
|
10
|
Jin T, Wang T, Xiong Q, Tian Y, Li L, Zhang Q, Yeow CH. Modular Soft Robot with Origami Skin for Versatile Applications. Soft Robot 2023; 10:785-796. [PMID: 36951665 DOI: 10.1089/soro.2022.0064] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 03/24/2023] Open
Abstract
Recent advances in soft robotics demonstrate the requirement of modular actuation to enable the rapid replacement of actuators for maintenance and functionality extension. There remain challenges to designing soft actuators capable of different motions with a consistent appearance for simplifying fabrication and modular connection. Origami structures reshaping along with their unique creases became a powerful tool to provide compact constraint layers for soft pneumatic actuators. Inspired by Waterbomb and Kresling origami, this article presents three types of vacuum-driven soft actuators with a cubic shape and different origami skins, featuring contraction, bending, and twisting-contraction combined motions, respectively. In addition, these modular actuators with diversified motion patterns can be directly fabricated by molding silicone shell and constraint layers together. Actuators with different geometrical parameters are characterized to optimize the structure and maximize output properties after establishing a theoretical model to predict the deformation. Owing to the shape consistency, our actuators can be further modularized to achieve modular actuation via mortise and tenon-based structures, promoting the possibility and efficiency of module connection for versatile tasks. Eventually, several types of modular soft robots are created to achieve fragile object manipulation and locomotion in various environments to show their potential applications.
Collapse
Affiliation(s)
- Tao Jin
- Shanghai Key Laboratory of Intelligent Manufacturing and Robotics, School of Mechatronic Engineering and Automation, Shanghai University, Shanghai, China
- School of Artificial Intelligence, Shanghai University, Shanghai, China
- Department of Biomedical Engineering, National University of Singapore, Singapore, Singapore
- Advanced Robotics Centre, National University of Singapore, Singapore, Singapore
| | - Tianhong Wang
- Shanghai Key Laboratory of Intelligent Manufacturing and Robotics, School of Mechatronic Engineering and Automation, Shanghai University, Shanghai, China
- School of Artificial Intelligence, Shanghai University, Shanghai, China
| | - Quan Xiong
- Department of Biomedical Engineering, National University of Singapore, Singapore, Singapore
- Advanced Robotics Centre, National University of Singapore, Singapore, Singapore
| | - Yingzhong Tian
- Shanghai Key Laboratory of Intelligent Manufacturing and Robotics, School of Mechatronic Engineering and Automation, Shanghai University, Shanghai, China
| | - Long Li
- Shanghai Key Laboratory of Intelligent Manufacturing and Robotics, School of Mechatronic Engineering and Automation, Shanghai University, Shanghai, China
- School of Artificial Intelligence, Shanghai University, Shanghai, China
- Jiangsu Provincial Key Laboratory of Advanced Robotics, School of Mechanical and Electric Engineering, Soochow University, Suzhou, China
| | - Quan Zhang
- Shanghai Key Laboratory of Intelligent Manufacturing and Robotics, School of Mechatronic Engineering and Automation, Shanghai University, Shanghai, China
- School of Artificial Intelligence, Shanghai University, Shanghai, China
| | - Chen-Hua Yeow
- Department of Biomedical Engineering, National University of Singapore, Singapore, Singapore
- Advanced Robotics Centre, National University of Singapore, Singapore, Singapore
| |
Collapse
|
11
|
López-González A, Tejada JC, López-Romero J. Review and Proposal for a Classification System of Soft Robots Inspired by Animal Morphology. Biomimetics (Basel) 2023; 8:biomimetics8020192. [PMID: 37218778 DOI: 10.3390/biomimetics8020192] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/01/2023] [Revised: 03/31/2023] [Accepted: 04/20/2023] [Indexed: 05/24/2023] Open
Abstract
The aim of this article is to propose a bio-inspired morphological classification for soft robots based on an extended review process. The morphology of living beings that inspire soft robotics was analyzed; we found coincidences between animal kingdom morphological structures and soft robot structures. A classification is proposed and depicted through experiments. Additionally, many soft robot platforms present in the literature are classified using it. This classification allows for order and coherence in the area of soft robotics and provides enough freedom to expand soft robotics research.
Collapse
Affiliation(s)
- Alexandro López-González
- Department of Engineering Studies for Innovation, Universidad Iberoamericana, Ciudad de México 01219, Mexico
| | - Juan C Tejada
- Department of Engineering Studies for Innovation, Universidad Iberoamericana, Ciudad de México 01219, Mexico
- Computational Intelligence and Automation Research Group (GIICA), Universidad EIA, Envigado 055428, Colombia
| | - Janet López-Romero
- Department of Engineering Studies for Innovation, Universidad Iberoamericana, Ciudad de México 01219, Mexico
| |
Collapse
|
12
|
Su J, Zhang Y, Cheng L, Zhu L, Yang R, Niu F, Yang K, Duan Y. Oribron: An Origami-Inspired Deformable Rigid Bronchoscope for Radial Support. MICROMACHINES 2023; 14:822. [PMID: 37421055 DOI: 10.3390/mi14040822] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 02/12/2023] [Revised: 03/29/2023] [Accepted: 04/04/2023] [Indexed: 07/09/2023]
Abstract
The structure of a traditional rigid bronchoscope includes proximal, distal, and body, representing an important means to treat hypoxic diseases. However, the body structure is too simple, resulting in the utilization rate of oxygen being usually low. In this work, we reported a deformable rigid bronchoscope (named Oribron) by adding a Waterbomb origami structure to the body. The Waterbomb's backbone is made of films, and the pneumatic actuators are placed inside it to achieve rapid deformation at low pressure. Experiments showed that Waterbomb has a unique deformation mechanism, which can transform from a small-diameter configuration (#1) to a large-diameter configuration (#2), showing excellent radial support capability. When Oribron entered or left the trachea, the Waterbomb remained in #1. When Oribron is working, the Waterbomb transforms from #1 to #2. Since #2 reduces the gap between the bronchoscope and the tracheal wall, it effectively slows down the rate of oxygen loss, thus promoting the absorption of oxygen by the patient. Therefore, we believe that this work will provide a new strategy for the integrated development of origami and medical devices.
Collapse
Affiliation(s)
- Junjie Su
- School of Biomedical Engineering, Anhui Medical University, Hefei 230009, China
| | - Yangyang Zhang
- School of Biomedical Engineering, Anhui Medical University, Hefei 230009, China
| | - Liang Cheng
- School of Biomedical Engineering, Anhui Medical University, Hefei 230009, China
| | - Ling Zhu
- Anhui Institute of Optics and Fine Mechanics, Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei 230031, China
| | - Runhuai Yang
- School of Biomedical Engineering, Anhui Medical University, Hefei 230009, China
| | - Fuzhou Niu
- School of Mechanical Engineering, Suzhou University of Science and Technology, Suzhou 215009, China
| | - Ke Yang
- Anhui Institute of Optics and Fine Mechanics, Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei 230031, China
| | - Yuping Duan
- School of Biomedical Engineering, Anhui Medical University, Hefei 230009, China
| |
Collapse
|
13
|
Yan W, Li S, Deguchi M, Zheng Z, Rus D, Mehta A. Origami-based integration of robots that sense, decide, and respond. Nat Commun 2023; 14:1553. [PMID: 37012246 PMCID: PMC10070436 DOI: 10.1038/s41467-023-37158-9] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 09/06/2022] [Accepted: 03/03/2023] [Indexed: 04/05/2023] Open
Abstract
Origami-inspired engineering has enabled intelligent materials and structures to process and react to environmental stimuli. However, it is challenging to achieve complete sense-decide-act loops in origami materials for autonomous interaction with environments, mainly due to the lack of information processing units that can interface with sensing and actuation. Here, we introduce an integrated origami-based process to create autonomous robots by embedding sensing, computing, and actuating in compliant, conductive materials. By combining flexible bistable mechanisms and conductive thermal artificial muscles, we realize origami multiplexed switches and configure them to generate digital logic gates, memory bits, and thus integrated autonomous origami robots. We demonstrate with a flytrap-inspired robot that captures 'living prey', an untethered crawler that avoids obstacles, and a wheeled vehicle that locomotes with reprogrammable trajectories. Our method provides routes to achieve autonomy for origami robots through tight functional integration in compliant, conductive materials.
Collapse
Affiliation(s)
- Wenzhong Yan
- Mechanical and Aerospace Engineering Department, UCLA, Los Angeles, CA, USA.
| | - Shuguang Li
- Computer Science and Artificial Intelligence Laboratory, MIT, Cambridge, USA
- Department of Mechanical Engineering, Tsinghua University, Beijing, P.R. China
| | - Mauricio Deguchi
- Mechanical and Aerospace Engineering Department, UCLA, Los Angeles, CA, USA
| | - Zhaoliang Zheng
- Electrical and Computer Engineering Department, UCLA, Los Angeles, CA, USA
| | - Daniela Rus
- Computer Science and Artificial Intelligence Laboratory, MIT, Cambridge, USA
| | - Ankur Mehta
- Electrical and Computer Engineering Department, UCLA, Los Angeles, CA, USA
| |
Collapse
|
14
|
Shi Y, Zhang M, Li M, Zhang X. Design and Analysis of a Wheel−Leg Hybrid Robot with Passive Transformable Wheels. Symmetry (Basel) 2023. [DOI: 10.3390/sym15040800] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 03/29/2023] Open
Abstract
This paper proposes a novel wheel−leg hybrid robot that can be applied on both flat and rugged terrains, it utilizes two passive transformable symmetrical wheels that combine the stability of the circular wheel and the obstacle climbing ability of the legged wheel. To minimize the number of actuators, the transformation process of the wheel is designed to be triggered passively when in contact with the obstacles. A new triggering mechanism is employed to eliminate the adverse effect of the robot’s weight on the transformation torque. The parameters of the wheel are optimized to maximize the climbing ability in low-friction conditions. The robot’s body length and angular velocity are also tuned based on the dynamic model during the obstacle climbing process. The simulation experiment results show that the robot can switch modes stably on terrain with a friction coefficient as low as 0.2, and can climb over an obstacle 3.9 times as tall as its wheel radius.
Collapse
|
15
|
Park CY, Lee YA, Jang J, Han MW. Origami and Kirigami Structure for Impact Energy Absorption: Its Application to Drone Guards. SENSORS (BASEL, SWITZERLAND) 2023; 23:2150. [PMID: 36850745 PMCID: PMC9959183 DOI: 10.3390/s23042150] [Citation(s) in RCA: 1] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 12/31/2022] [Revised: 02/08/2023] [Accepted: 02/09/2023] [Indexed: 06/18/2023]
Abstract
As the use of drones grows, so too does the demand for physical protection against drone damage resulting from collisions and falls. In addition, as the flight environment becomes more complicated, a shock absorption system is required, in which the protective structure can be deformed based on the circumstances. Here, we present an origami- and kirigami-based structure that provides protection from various directions. This research adds a deformation capacity to existing fixed-shape guards; by using shape memory alloys, the diameter and height of the protective structure are controlled. We present three protective modes (1: large diameter/low height; 2: small diameter/large height; and 3: lotus shaped) that mitigate drone falls and side collisions. From the result of the drop impact test, mode 2 showed a 78.2% reduction in the maximum impact force at side impact. We incorporated kirigami patterns into the origami structures in order to investigate the aerodynamic effects of the hollow patterns. Airflow experiments yielded a macro understanding of flow-through behaviors on each kirigami pattern. In the wind speed experiment, the change in airflow velocity induced by the penetration of the kirigami pattern was measured, and in the force measurement experiment, the air force applied to the structure was determined.
Collapse
|
16
|
Zhang H, Paik J. Lattice-and-Plate Model: Mechanics Modeling of Physical Origami Robots. Soft Robot 2023; 10:149-158. [PMID: 35714351 DOI: 10.1089/soro.2021.0172] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/13/2022] Open
Abstract
Origami robots are characterized by their compact design, quasi-two-dimensional manufacturing process, and folding joint-based transmission kinematics. The physical requirements in terms of payload, range of motion, and embedding core robotic components have made it unrealistic to rely on conventional mathematical models for designing these new robots. Therefore, origami robots require a comprehensive approach to model their mechanics. Currently, there is no generalized mechanics model to achieve this goal. Therefore, in this work, we propose a nonlinear lattice-and-plate model to simulate the mechanics of physical origami robots within several seconds, including the localized bending on flexible hinges, global displacements of rigid panels, and trajectory of predefined outputs. Moreover, this proposed model captures the large displacement and self-contact of adjacent panels during locomotion. We validate the efficiency of the model on various origami actuators, grippers, and metamaterials. To conclude, the computational model can help to accelerate the design iteration of origami robots.
Collapse
Affiliation(s)
- Hongying Zhang
- Department of Mechanical Engineering, National University of Singapore, Singapore, Singapore
| | - Jamie Paik
- Reconfigurable Robotics Laboratory, École Polytechnique Fédérale de Lausanne, Lausanne, Switzerland
| |
Collapse
|
17
|
Son H, Park Y, Na Y, Yoon C. 4D Multiscale Origami Soft Robots: A Review. Polymers (Basel) 2022; 14:polym14194235. [PMID: 36236182 PMCID: PMC9571758 DOI: 10.3390/polym14194235] [Citation(s) in RCA: 3] [Impact Index Per Article: 1.5] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 08/18/2022] [Revised: 09/29/2022] [Accepted: 10/06/2022] [Indexed: 11/06/2022] Open
Abstract
Time-dependent shape-transferable soft robots are important for various intelligent applications in flexible electronics and bionics. Four-dimensional (4D) shape changes can offer versatile functional advantages during operations to soft robots that respond to external environmental stimuli, including heat, pH, light, electric, or pneumatic triggers. This review investigates the current advances in multiscale soft robots that can display 4D shape transformations. This review first focuses on material selection to demonstrate 4D origami-driven shape transformations. Second, this review investigates versatile fabrication strategies to form the 4D mechanical structures of soft robots. Third, this review surveys the folding, rolling, bending, and wrinkling mechanisms of soft robots during operation. Fourth, this review highlights the diverse applications of 4D origami-driven soft robots in actuators, sensors, and bionics. Finally, perspectives on future directions and challenges in the development of intelligent soft robots in real operational environments are discussed.
Collapse
Affiliation(s)
- Hyegyo Son
- Department of Mechanical Systems Engineering, Sookmyung Women’s University, Seoul 04310, Korea
| | - Yunha Park
- Department of Mechanical Systems Engineering, Sookmyung Women’s University, Seoul 04310, Korea
| | - Youngjin Na
- Department of Mechanical Systems Engineering, Sookmyung Women’s University, Seoul 04310, Korea
- Correspondence: (Y.N.); (C.Y.)
| | - ChangKyu Yoon
- Department of Mechanical Systems Engineering, Sookmyung Women’s University, Seoul 04310, Korea
- Institute of Advanced Materials and Systems, Sookmyung Women’s University, Seoul 04310, Korea
- Correspondence: (Y.N.); (C.Y.)
| |
Collapse
|
18
|
Design optimization of a linkage-based 2-DOF wheel mechanism for stable step climbing. Sci Rep 2022; 12:16912. [PMID: 36207391 PMCID: PMC9547076 DOI: 10.1038/s41598-022-21410-1] [Citation(s) in RCA: 2] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/04/2022] [Accepted: 09/27/2022] [Indexed: 12/29/2022] Open
Abstract
This paper presents the design optimization of a linkage-based wheel mechanism with two degrees of freedom, for stable step climbing. The mechanism has seven rotational joints and one prismatic joint. Kinematic and dynamic analyses of the mechanism were performed. The design was optimized in terms of linkage length and architecture to better manipulate the mechanism in its workspace, which was defined here by the targeted step size, as well as to ensure stability while climbing stairs. Optimization by genetic algorithm was performed using MATLAB. The optimized mechanism exhibited enhanced torque transmission from the input torque to the exerted for at the lobe of the wheel. Compliance control of the transformation will be addressed in the future.
Collapse
|
19
|
Park Y, Kang J, Na Y. Reconfigurable Shape Morphing With Origami-Inspired Pneumatic Blocks. IEEE Robot Autom Lett 2022. [DOI: 10.1109/lra.2022.3191417] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/06/2022]
Affiliation(s)
- Yunha Park
- Department of Mechanical Systems Engineering, Sookmyung Women's University, Seoul, South Korea
| | - Joohyeon Kang
- Department of Mechanical Systems Engineering, Sookmyung Women's University, Seoul, South Korea
| | - Youngjin Na
- Department of Mechanical Systems Engineering, Sookmyung Women's University, Seoul, South Korea
| |
Collapse
|
20
|
Practical Obstacle-Overcoming Robot with a Heterogeneous Sensing System: Design and Experiments. MACHINES 2022. [DOI: 10.3390/machines10050289] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 02/05/2023]
Abstract
It is challenging for robots to improve their ability to pass through unstructured environments while maximizing motion performance in cities and factories. This paper presents an omnidirectional deformable wheeled robot based on a heterogeneous sensing system. We presented a novel structure with dual swing arms and six wheels. Moreover, the heterogeneous sensing system can perceive critical environmental data, such as friction and temperature, to assist the robot in executing different functions. In addition, a top-down ‘Order–Decision–Behaviour’ overall motion strategy is proposed based on the data acquisition. The strategy combines the key condition parameters with a kinetic model to integrate the robot’s movement, overcoming of obstacles, and mode switching. The robot is flexible and fast in moving mode and can overcome obstacles safely, reliably, and simply. This study describes the robot’s design, strategy, simulation, and experiments. Motion performance and strategy were investigated and evaluated in field environments.
Collapse
|
21
|
Jin T, Li L, Wang T, Wang G, Cai J, Tian Y, Zhang Q. Origami-Inspired Soft Actuators for Stimulus Perception and Crawling Robot Applications. IEEE T ROBOT 2022. [DOI: 10.1109/tro.2021.3096644] [Citation(s) in RCA: 5] [Impact Index Per Article: 2.5] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/08/2022]
|
22
|
Lee Y, Ryu S, Won JH, Kim S, Kim HS, Seo T. Modular Two-Degree-of-Freedom Transformable Wheels Capable of Overcoming Obstacle. IEEE Robot Autom Lett 2022. [DOI: 10.1109/lra.2021.3096223] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/06/2022]
|
23
|
|
24
|
Feng R, Zhang Y, Liu J, Zhang Y, Li J, Baoyin H. Soft Robotic Perspective and Concept for Planetary Small Body Exploration. Soft Robot 2021; 9:889-899. [PMID: 34939854 DOI: 10.1089/soro.2021.0054] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 10/19/2022] Open
Abstract
Tens of thousands of planetary small bodies (asteroids, comets, and small moons) are flying beside our Earth with little understanding. Explorers on the surfaces of these bodies, unlike the Lunar or Mars rovers, have only few attempts and no sophisticated solution. Current concerns mainly focus on landing uncertainties and mobility limitations, which soft robots may suitably aid utilizing their compliance and adaptivity. In this study, we present a perspective of designating soft robots for the surface exploration. Based on the lessons from recent space missions and an astronomy survey, we summarize the surface features of typical small bodies and the associated challenges for possible soft robotic design. Different kinds of soft mobile robots are reviewed, whose morphology and locomotion are analyzed for the microgravity, rugged environment. We also propose an alternative to current asteroid hoppers, as a case of applying progress in soft material. Specifically, the structure is a deployable cube whose outer shell is made of shape memory polymer, so that it can achieve morphing and variable stiffness between liftoff and landing phases. Dynamic simulations of the free-fall landing are carried out with a rigid counterpart for comparison. The results show that the soft deployed shell can effectively contribute to dissipating the kinetic energy and attenuating the excessive rebounds.
Collapse
Affiliation(s)
- Ruoyu Feng
- School of Aerospace Engineering, Tsinghua University, Beijing, China
| | - Yu Zhang
- School of Aerospace Engineering, Tsinghua University, Beijing, China
| | - Jinyu Liu
- School of Aerospace Engineering, Tsinghua University, Beijing, China
| | - Yonglong Zhang
- School of Aerospace Engineering, Tsinghua University, Beijing, China
| | - Junfeng Li
- School of Aerospace Engineering, Tsinghua University, Beijing, China
| | - Hexi Baoyin
- School of Aerospace Engineering, Tsinghua University, Beijing, China
| |
Collapse
|
25
|
Yan W, Mehta A. A Cut-and-Fold Self-Sustained Compliant Oscillator for Autonomous Actuation of Origami-Inspired Robots. Soft Robot 2021; 9:871-881. [PMID: 34813378 DOI: 10.1089/soro.2021.0018] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/13/2022] Open
Abstract
Origami-inspired robots are of particular interest due to their potential for rapid and accessible design and fabrication of elegant designs and complex functionalities through cutting and folding of flexible two-dimensional sheets or even strings, that is, printable manufacturing. Yet, origami robots still require bulky rigid components or electronics for actuation and control to accomplish tasks with reliability, programmability, ability to output substantial force, and durability, restricting their full potential. In this study, we present a printable self-sustained compliant oscillator that generates periodic actuation using only constant electrical power, without discrete components or electronic control hardware. This oscillator is robust (9 out of 10 prototypes worked successfully on the first try), configurable (with tunable periods from 3 to 12 s), powerful (can overcome hydrodynamic resistance to consistently propel a swimmer at ∼1.6 body lengths/min or 3.66 mm/s), and long lasting (∼103 cycles); it enables driving macroscale devices with prescribed autonomous behaviors, for example, locomotion and sequencing. This oscillator is also fully functional underwater and in high magnetic fields. Our analytical model characterizes essential parameters of the oscillation period, enabling programmable design of the oscillator. The printable oscillator can be integrated into origami-inspired systems seamlessly and monolithically, allowing rapid design and prototyping; the resulting integrated devices are lightweight, low cost, compliant, electronic free, and nonmagnetic, enabling practical applications in extreme areas. We demonstrate the functionalities of the oscillator with: (1) autonomous gliding of a printable swimmer, (2) LED flashing, and (3) fluid stirring. This work paves the way for realizing fully printable autonomous robots with high integration of actuation and control.
Collapse
Affiliation(s)
- Wenzhong Yan
- Department of Mechanical and Aerospace Engineering, University of California, Los Angeles, California, USA
| | - Ankur Mehta
- Department of Electrical and Computer Engineering, University of California, Los Angeles, California, USA
| |
Collapse
|
26
|
Chen Q, Feng F, Lv P, Duan H. Origami Spring-Inspired Shape Morphing for Flexible Robotics. Soft Robot 2021; 9:798-806. [PMID: 34747664 DOI: 10.1089/soro.2021.0030] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.7] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/13/2022] Open
Abstract
Flexible robotics are capable of achieving various functionalities by shape morphing, benefiting from their compliant bodies and reconfigurable structures. In this study, we construct and study a class of origami springs generalized from the known interleaved origami spring, as promising candidates for shape morphing in flexible robotics. These springs are found to exhibit nonlinear stretch-twist coupling and linear/nonlinear mechanical response in the compression/tension region, analyzed by the demonstrated continuum mechanics models, experiments, and finite element simulations. To improve the mechanical performance such as the damage resistance, we establish an origami rigidization method by adding additional creases to the spring system. Guided by the theoretical framework, we experimentally realize three types of flexible robotics-origami spring ejectors, crawlers, and transformers. These robots show the desired functionality and outstanding mechanical performance. The proposed concept of origami-aided design is expected to pave the way to facilitate the diverse shape morphing of flexible robotics.
Collapse
Affiliation(s)
- Qianying Chen
- State Key Laboratory for Turbulence and Complex Systems, Department of Mechanics and Engineering Science, BIC-ESAT, College of Engineering, Peking University, Beijing, China.,CAPT, HEDPS and IFSA Collaborative Innovation Center of MoE, Peking University, Beijing, China
| | - Fan Feng
- State Key Laboratory for Turbulence and Complex Systems, Department of Mechanics and Engineering Science, BIC-ESAT, College of Engineering, Peking University, Beijing, China
| | - Pengyu Lv
- State Key Laboratory for Turbulence and Complex Systems, Department of Mechanics and Engineering Science, BIC-ESAT, College of Engineering, Peking University, Beijing, China
| | - Huiling Duan
- State Key Laboratory for Turbulence and Complex Systems, Department of Mechanics and Engineering Science, BIC-ESAT, College of Engineering, Peking University, Beijing, China.,CAPT, HEDPS and IFSA Collaborative Innovation Center of MoE, Peking University, Beijing, China
| |
Collapse
|
27
|
Mete M, Paik J. Closed-Loop Position Control of a Self-Sensing 3-DoF Origami Module With Pneumatic Actuators. IEEE Robot Autom Lett 2021. [DOI: 10.1109/lra.2021.3102952] [Citation(s) in RCA: 3] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 01/11/2023]
|
28
|
Yang Z, Chen D, Levine DJ, Sung C. Origami-Inspired Robot That Swims via Jet Propulsion. IEEE Robot Autom Lett 2021. [DOI: 10.1109/lra.2021.3097757] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.7] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/07/2022]
|
29
|
Yang B, Baines R, Shah D, Patiballa S, Thomas E, Venkadesan M, Kramer-Bottiglio R. Reprogrammable soft actuation and shape-shifting via tensile jamming. SCIENCE ADVANCES 2021; 7:eabh2073. [PMID: 34597130 PMCID: PMC11093226 DOI: 10.1126/sciadv.abh2073] [Citation(s) in RCA: 6] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 02/22/2021] [Accepted: 08/10/2021] [Indexed: 06/13/2023]
Abstract
The emerging generation of robots composed of soft materials strives to match biological motor adaptation skills via shape-shifting. Soft robots often harness volumetric expansion directed by strain limiters to deform in complex ways. Traditionally, strain limiters have been inert materials embedded within a system to prescribe a single deformation. Under changing task demands, a fixed deformation mode limits adaptability. Recent technologies for on-demand reprogrammable deformation of soft bodies, including thermally activated variable stiffness materials and jamming systems, presently suffer from long actuation times or introduce unwanted bending stiffness. We present fibers that switch tensile stiffness via jamming of segmented elastic fibrils. When jammed, tensile stiffness increases more than 20× in less than 0.1 s, but bending stiffness increases only 2×. When adhered to an inflating body, jamming fibers locally limit surface tensile strains, unlocking myriad programmable deformations. The proposed jamming technology is scalable, enabling adaptive behaviors in emerging robotic materials that interact with unstructured environments.
Collapse
Affiliation(s)
| | | | | | - Sreekalyan Patiballa
- School of Engineering & Applied Science, Yale University, 10 Hillhouse Avenue, New Haven, CT 06520, USA
| | - Eugene Thomas
- School of Engineering & Applied Science, Yale University, 10 Hillhouse Avenue, New Haven, CT 06520, USA
| | - Madhusudhan Venkadesan
- School of Engineering & Applied Science, Yale University, 10 Hillhouse Avenue, New Haven, CT 06520, USA
| | | |
Collapse
|
30
|
Liu C, Maiolino P, You Z. A 3D-Printable Robotic Gripper Based on Thick Panel Origami. Front Robot AI 2021; 8:730227. [PMID: 34568438 PMCID: PMC8455838 DOI: 10.3389/frobt.2021.730227] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.7] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 06/24/2021] [Accepted: 08/20/2021] [Indexed: 12/27/2022] Open
Abstract
Origami has been a source of inspiration for the design of robots because it can be easily produced using 2D materials and its motions can be well quantified. However, most applications to date have utilised origami patterns for thin sheet materials with a negligible thickness. If the thickness of the material cannot be neglected, commonly known as the thick panel origami, the creases need to be redesigned. One approach is to place creases either on top or bottom surfaces of a sheet of finite thickness. As a result, spherical linkages in the zero-thickness origami are replaced by spatial linkages in the thick panel one, leading to a reduction in the overall degrees of freedom (DOFs). For instance, a waterbomb pattern for a zero-thickness sheet shows multiple DOFs while its thick panel counterpart has only one DOF, which significantly reduces the complexity of motion control. In this article, we present a robotic gripper derived from a unit that is based on the thick panel six-crease waterbomb origami. Four such units complete the gripper. Kinematically, each unit is a plane-symmetric Bricard linkage, and the gripper can be modelled as an assembly of Bricard linkages, giving it single mobility. A gripper prototype was made using 3D printing technology, and its motion was controlled by a set of tendons tied to a single motor. Detailed kinematic modelling was done, and experiments were carried out to characterise the gripper's behaviours. The positions of the tips on the gripper, the actuation force on tendons, and the grasping force generated on objects were analysed and measured. The experimental results matched well with the analytical ones, and the repeated tests demonstrate that the concept is viable. Furthermore, we observed that the gripper was also capable of grasping non-symmetrical objects, and such performance is discussed in detail in the paper.
Collapse
Affiliation(s)
- Chenying Liu
- Department of Engineering Science, Oxford Robotics Institute, University of Oxford, Oxford, United Kingdom.,Department of Engineering Science, University of Oxford, Oxford, United Kingdom
| | - Perla Maiolino
- Department of Engineering Science, Oxford Robotics Institute, University of Oxford, Oxford, United Kingdom.,Department of Engineering Science, University of Oxford, Oxford, United Kingdom
| | - Zhong You
- Department of Engineering Science, University of Oxford, Oxford, United Kingdom
| |
Collapse
|
31
|
Lee JG, Rodrigue H. Armor-Based Stable Force Pneumatic Artificial Muscles for Steady Actuation Properties. Soft Robot 2021; 9:413-424. [PMID: 34097527 DOI: 10.1089/soro.2020.0117] [Citation(s) in RCA: 3] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/12/2022] Open
Abstract
In this article, a novel actuator called armor-based stable force pneumatic artificial muscle (AS-PAM) is presented. AS-PAM has a sealed chamber made of polygonal parts and film, which helps the actuator to be lightweight (∼100 g) and achieve a large contraction ratio (>60%). It has an armor and a constraint to guide its motion, which keeps its force output [6.25 N/(cm2·bar)] stable over its operating range (<10% deviation). An analytical model is presented to predict and control the behavior of the actuator, and various experiments were conducted to show the validity of the model. Afterward, a gripper using the actuators is presented to illustrate how it can be used in real applications. With its characteristics, the actuator shows interesting behaviors that cannot be found in other soft pneumatic actuators, and it would allow AS-PAM to expand the range of applications in which soft robots cooperate with humans.
Collapse
Affiliation(s)
- Jin-Gyu Lee
- School of Mechanical Engineering, Sungkyunkwan University, Suwon, South Korea
| | - Hugo Rodrigue
- School of Mechanical Engineering, Sungkyunkwan University, Suwon, South Korea
| |
Collapse
|
32
|
Shah D, Yang B, Kriegman S, Levin M, Bongard J, Kramer-Bottiglio R. Shape Changing Robots: Bioinspiration, Simulation, and Physical Realization. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2021; 33:e2002882. [PMID: 32954582 DOI: 10.1002/adma.202002882] [Citation(s) in RCA: 22] [Impact Index Per Article: 7.3] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 04/28/2020] [Revised: 06/01/2020] [Accepted: 06/08/2020] [Indexed: 06/11/2023]
Abstract
One of the key differentiators between biological and artificial systems is the dynamic plasticity of living tissues, enabling adaptation to different environmental conditions, tasks, or damage by reconfiguring physical structure and behavioral control policies. Lack of dynamic plasticity is a significant limitation for artificial systems that must robustly operate in the natural world. Recently, researchers have begun to leverage insights from regenerating and metamorphosing organisms, designing robots capable of editing their own structure to more efficiently perform tasks under changing demands and creating new algorithms to control these changing anatomies. Here, an overview of the literature related to robots that change shape to enhance and expand their functionality is presented. Related grand challenges, including shape sensing, finding, and changing, which rely on innovations in multifunctional materials, distributed actuation and sensing, and somatic control to enable next-generation shape changing robots are also discussed.
Collapse
Affiliation(s)
- Dylan Shah
- School of Engineering & Applied Science, Yale University, 9 Hillhouse Avenue, New Haven, CT, 06511, USA
| | - Bilige Yang
- School of Engineering & Applied Science, Yale University, 9 Hillhouse Avenue, New Haven, CT, 06511, USA
| | - Sam Kriegman
- Department of Computer Science, University of Vermont, E428 Innovation Hall, Burlington, VT, 05405, USA
| | - Michael Levin
- Department of Biology, Allen Discovery Center at Tufts University, Tufts University, 200 Boston Ave. Suite 4604, Medford, MA, 02155, USA
- Wyss Institute for Biologically Inspired Engineering, Harvard University, 3 Blackfan Cir, Boston, MA, 02115, USA
| | - Josh Bongard
- Department of Computer Science, University of Vermont, E428 Innovation Hall, Burlington, VT, 05405, USA
| | - Rebecca Kramer-Bottiglio
- School of Engineering & Applied Science, Yale University, 9 Hillhouse Avenue, New Haven, CT, 06511, USA
| |
Collapse
|
33
|
Joe S, Totaro M, Wang H, Beccai L. Development of the Ultralight Hybrid Pneumatic Artificial Muscle: Modelling and optimization. PLoS One 2021; 16:e0250325. [PMID: 33886654 PMCID: PMC8062031 DOI: 10.1371/journal.pone.0250325] [Citation(s) in RCA: 6] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Grants] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/15/2020] [Accepted: 04/01/2021] [Indexed: 11/29/2022] Open
Abstract
Pneumatic artificial muscles (PAMs) are one of the key technologies in soft robotics, and they enable actuation in mobile robots, in wearable devices and exoskeletons for assistive and rehabilitative purposes. While they recently showed relevant improvements, they still present quite low payload, limited bandwidth, and lack of repeatability, controllability and robustness. Vacuum-based actuation has been recently demonstrated as a very promising solution, and many challenges are still open, like generating at the same time a large contraction ratio, and a high blocking force with enhanced axial stiffness. In this paper, a novel Ultralight Hybrid PAM (UH-PAM), based on bellow-type elastomeric skin and vacuum actuation, is presented. In particular, open-cell foam is exploited as a structural backbone, together with plastic rings, all embedded in a thin skin. The design and optimization combine numerical, analytical, and experimental data. Both static and dynamic analysis are performed. The weight of the optimized actuator is only 20 g. Nevertheless, a contraction ratio up to 50% and a maximum payload of 3 kg can be achieved. From a dynamic point of view, a rise time of 0.5 s for the contraction phase is observed. Although hysteresis is significant when using the whole contraction span, it can be reduced (down to 11.5%) by tuning both the vacuum range and the operating frequency for cyclic movements. Finally, to demonstrate the potentiality of this soft actuation approach, a 3 DoFs Stewart platform is built. The feasibility of performing smooth movements by exploiting open-loop control is shown through simple and more complex handwriting figures projected on the XY plane.
Collapse
Affiliation(s)
- Seonggun Joe
- Soft BioRobotics Perception, Istituto Italiano di Tecnologia (IIT), Genova, Italy
- The BioRobotics Institute, Scuola Superiore Sant’Anna, Pontedera, Italy
- * E-mail: (SJ); (LB)
| | - Massimo Totaro
- Soft BioRobotics Perception, Istituto Italiano di Tecnologia (IIT), Genova, Italy
| | - Hongbo Wang
- Soft BioRobotics Perception, Istituto Italiano di Tecnologia (IIT), Genova, Italy
| | - Lucia Beccai
- Soft BioRobotics Perception, Istituto Italiano di Tecnologia (IIT), Genova, Italy
- * E-mail: (SJ); (LB)
| |
Collapse
|
34
|
Lee DY, Kim JK, Sohn CY, Heo JM, Cho KJ. High-load capacity origami transformable wheel. Sci Robot 2021; 6:6/53/eabe0201. [PMID: 34043563 DOI: 10.1126/scirobotics.abe0201] [Citation(s) in RCA: 13] [Impact Index Per Article: 4.3] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/26/2020] [Accepted: 03/16/2021] [Indexed: 12/13/2022]
Abstract
Composite membrane origami has been an efficient and effective method for constructing transformable mechanisms while considerably simplifying their design, fabrication, and assembly; however, its limited load-bearing capability has restricted its application potential. With respect to wheel design, membrane origami offers unique benefits compared with its conventional counterparts, such as simple fabrication, high weight-to-payload ratio, and large shape variation, enabling softness and flexibility in a kinematic mechanism that neutralizes joint distortion and absorbs shocks from the ground. Here, we report a transformable wheel based on membrane origami capable of bearing more than a 10-kilonewton load. To achieve a high payload, we adopt a thick membrane as an essential element and introduce a wireframe design rule for thick membrane accommodation. An increase in the thickness can cause a geometric conflict for the facet and the membrane, but the excessive strain energy accumulation is unique to the thickness increase of the membrane. Thus, the design rules for accommodating membrane thickness aim to address both geometric and physical characteristics, and these rules are applied to basic origami patterns to obtain the desired wheel shapes and transformation. The capability of the resulting wheel applied to a passenger vehicle and validated through a field test. Our study shows that membrane origami can be used for high-payload applications.
Collapse
Affiliation(s)
- Dae-Young Lee
- Biorobotics Lab, Soft Robotics Research Center, School of Mechanical Engineering/IAMD, Institute of Engineering Research, Seoul National University, Seoul, Republic of Korea.,School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, USA
| | - Jae-Kyeong Kim
- Biorobotics Lab, Soft Robotics Research Center, School of Mechanical Engineering/IAMD, Institute of Engineering Research, Seoul National University, Seoul, Republic of Korea
| | - Chang-Young Sohn
- R&D Center, Hankook Tire and Technology Co. Ltd., Daejeon, Republic of Korea
| | - Jeong-Mu Heo
- R&D Center, Hankook Tire and Technology Co. Ltd., Daejeon, Republic of Korea
| | - Kyu-Jin Cho
- Biorobotics Lab, Soft Robotics Research Center, School of Mechanical Engineering/IAMD, Institute of Engineering Research, Seoul National University, Seoul, Republic of Korea.
| |
Collapse
|
35
|
Kim SR, Lee DY, Ahn SJ, Koh JS, Cho KJ. Morphing Origami Block for Lightweight Reconfigurable System. IEEE T ROBOT 2021. [DOI: 10.1109/tro.2020.3031248] [Citation(s) in RCA: 8] [Impact Index Per Article: 2.7] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/10/2022]
|
36
|
Kim SJ, Lee DY, Jung GP, Cho KJ. An origami-inspired, self-locking robotic arm that can be folded flat. Sci Robot 2021; 3:3/16/eaar2915. [PMID: 33141746 DOI: 10.1126/scirobotics.aar2915] [Citation(s) in RCA: 58] [Impact Index Per Article: 19.3] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 10/23/2017] [Accepted: 02/16/2018] [Indexed: 11/02/2022]
Abstract
A foldable arm is one of the practical applications of folding. It can help mobile robots and unmanned aerial vehicles (UAVs) overcome access issues by allowing them to reach into confined spaces. The origami-inspired design enables a foldable structure to be lightweight, compact, and scalable while maintaining its kinematic behavior. However, the lack of structural stiffness has been a major limitation in the practical use of origami-inspired designs. Resolving this obstacle without losing the inherent advantages of origami is a challenge. We propose a solution by implementing a simple stiffening mechanism that uses an origami principle of perpendicular folding. The simplicity of the stiffening mechanism enables an actuation system to drive shape and stiffness changes with only a single electric motor. Our results show that this design was effective for a foldable arm and allowed a UAV to perform a variety of tasks in a confined space.
Collapse
Affiliation(s)
- Suk-Jun Kim
- Biorobotics Laboratory, Department of Mechanical and Aerospace Engineering, Seoul National University, Seoul 08826, Korea.,Soft Robotics Research Center, Seoul National University, Seoul 08826, Korea
| | - Dae-Young Lee
- Biorobotics Laboratory, Department of Mechanical and Aerospace Engineering, Seoul National University, Seoul 08826, Korea.,Institute of Advanced Machines and Design, Seoul National University, Seoul 08826, Korea.,Soft Robotics Research Center, Seoul National University, Seoul 08826, Korea
| | - Gwang-Pil Jung
- Bio-Inspired Design Laboratory, Department of Mechanical and Automotive Engineering, Seoul National University of Science and Technology, Seoul 01811, Korea
| | - Kyu-Jin Cho
- Biorobotics Laboratory, Department of Mechanical and Aerospace Engineering, Seoul National University, Seoul 08826, Korea. .,Institute of Advanced Machines and Design, Seoul National University, Seoul 08826, Korea.,Soft Robotics Research Center, Seoul National University, Seoul 08826, Korea
| |
Collapse
|
37
|
Sareh P, Chermprayong P, Emmanuelli M, Nadeem H, Kovac M. Rotorigami: A rotary origami protective system for robotic rotorcraft. Sci Robot 2021; 3:3/22/eaah5228. [PMID: 33141756 DOI: 10.1126/scirobotics.aah5228] [Citation(s) in RCA: 68] [Impact Index Per Article: 22.7] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/08/2018] [Accepted: 09/05/2018] [Indexed: 12/25/2022]
Abstract
Applications of aerial robots are progressively expanding into complex urban and natural environments. Despite remarkable advancements in the field, robotic rotorcraft is still drastically limited by the environment in which they operate. Obstacle detection and avoidance systems have functionality limitations and substantially add to the computational complexity of the onboard equipment of flying vehicles. Furthermore, they often cannot identify difficult-to-detect obstacles such as windows and wires. Robustness to physical contact with the environment is essential to mitigate these limitations and continue mission completion. However, many current mechanical impact protection concepts are either not sufficiently effective or too heavy and cumbersome, severely limiting the flight time and the capability of flying in constrained and narrow spaces. Therefore, novel impact protection systems are needed to enable flying robots to navigate in confined or heavily cluttered environments easily, safely, and efficiently while minimizing the performance penalty caused by the protection method. Here, we report the development of a protection system for robotic rotorcraft consisting of a free-to-spin circular protector that is able to decouple impact yawing moments from the vehicle, combined with a cyclic origami impact cushion capable of reducing the peak impact force experienced by the vehicle. Experimental results using a sensor-equipped miniature quadrotor demonstrated the impact resilience effectiveness of the Rotary Origami Protective System (Rotorigami) for a variety of collision scenarios. We anticipate this work to be a starting point for the exploitation of origami structures in the passive or active impact protection of robotic vehicles.
Collapse
Affiliation(s)
- Pooya Sareh
- Aerial Robotics Laboratory, Department of Aeronautics, Imperial College London, South Kensington Campus, SW7 2AZ London, UK. .,Division of Industrial Design, School of Engineering, University of Liverpool, London Campus, EC2A 1AG London, UK
| | - Pisak Chermprayong
- Aerial Robotics Laboratory, Department of Aeronautics, Imperial College London, South Kensington Campus, SW7 2AZ London, UK
| | - Marc Emmanuelli
- Aerial Robotics Laboratory, Department of Aeronautics, Imperial College London, South Kensington Campus, SW7 2AZ London, UK
| | - Haris Nadeem
- Aerial Robotics Laboratory, Department of Aeronautics, Imperial College London, South Kensington Campus, SW7 2AZ London, UK
| | - Mirko Kovac
- Aerial Robotics Laboratory, Department of Aeronautics, Imperial College London, South Kensington Campus, SW7 2AZ London, UK
| |
Collapse
|
38
|
|
39
|
Baek SM, Yim S, Chae SH, Lee DY, Cho KJ. Ladybird beetle–inspired compliant origami. Sci Robot 2020; 5:5/41/eaaz6262. [DOI: 10.1126/scirobotics.aaz6262] [Citation(s) in RCA: 47] [Impact Index Per Article: 11.8] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 09/28/2019] [Accepted: 03/20/2020] [Indexed: 02/01/2023]
Abstract
Origami can enable structures that are compact and lightweight. The facets of an origami structure in traditional designs, however, are essentially nondeformable rigid plates. Therefore, implementing energy storage and robust self-locking in these structures can be challenging. We note that the intricately folded wings of a ladybird beetle can be deployed rapidly and effectively sustain aerodynamic forces during flight; these abilities originate from the geometry and deformation of a specialized vein in the wing of this insect. We report compliant origami inspired by the wing vein in ladybird beetles. The deformation and geometry of the compliant facet enables both large energy storage and self-locking in a single origami joint. On the basis of our compliant origami, we developed a deployable glider module for a multimodal robot. The glider module is compactly foldable, is rapidly deployable, and can effectively sustain aerodynamic forces. We also apply our compliant origami to enhance the energy storage capacity of the jumping mechanism in a jumping robot.
Collapse
Affiliation(s)
- Sang-Min Baek
- Soft Robotics Research Center, Seoul National University, Seoul, Republic of Korea
- Department of Mechanical and Aerospace Engineering, Institute of Advanced Machines and Design, Seoul National University, Seoul, Republic of Korea
| | - Sojung Yim
- Soft Robotics Research Center, Seoul National University, Seoul, Republic of Korea
- Department of Mechanical and Aerospace Engineering, Institute of Advanced Machines and Design, Seoul National University, Seoul, Republic of Korea
| | - Soo-Hwan Chae
- Soft Robotics Research Center, Seoul National University, Seoul, Republic of Korea
- Department of Mechanical and Aerospace Engineering, Institute of Advanced Machines and Design, Seoul National University, Seoul, Republic of Korea
| | - Dae-Young Lee
- Soft Robotics Research Center, Seoul National University, Seoul, Republic of Korea
- Department of Mechanical and Aerospace Engineering, Institute of Advanced Machines and Design, Seoul National University, Seoul, Republic of Korea
- School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, USA
- Wyss Institute for Biologically Inspired Engineering, Harvard University, Cambridge, MA, USA
| | - Kyu-Jin Cho
- Soft Robotics Research Center, Seoul National University, Seoul, Republic of Korea
- Department of Mechanical and Aerospace Engineering, Institute of Advanced Machines and Design, Seoul National University, Seoul, Republic of Korea
| |
Collapse
|
40
|
Ma J, Feng H, Chen Y, Hou D, You Z. Folding of Tubular Waterbomb. RESEARCH 2020; 2020:1735081. [PMID: 32529187 PMCID: PMC7171592 DOI: 10.34133/2020/1735081] [Citation(s) in RCA: 16] [Impact Index Per Article: 4.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 01/16/2020] [Accepted: 03/23/2020] [Indexed: 12/21/2022]
Abstract
Origami has recently emerged as a promising building block of mechanical metamaterials because it offers a purely geometric design approach independent of scale and constituent material. The folding mechanics of origami-inspired metamaterials, i.e., whether the deformation involves only rotation of crease lines (rigid origami) or both crease rotation and facet distortion (nonrigid origami), is critical for fine-tuning their mechanical properties yet very difficult to determine for origami patterns with complex behaviors. Here, we characterize the folding of tubular waterbomb using a combined kinematic and structural analysis. We for the first time uncover that a waterbomb tube can undergo a mixed mode involving both rigid origami motion and nonrigid structural deformation, and the transition between them can lead to a substantial change in the stiffness. Furthermore, we derive theoretically the range of geometric parameters for the transition to occur, which paves the road to program the mechanical properties of the waterbomb pattern. We expect that such analysis and design approach will be applicable to more general origami patterns to create innovative programmable metamaterials, serving for a wide range of applications including aerospace systems, soft robotics, morphing structures, and medical devices.
Collapse
Affiliation(s)
- Jiayao Ma
- Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, 135 Yaguan Road, Tianjin 300350, China.,School of Mechanical Engineering, Tianjin University, 135 Yaguan Road, Tianjin 300350, China
| | - Huijuan Feng
- Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, 135 Yaguan Road, Tianjin 300350, China.,School of Mechanical Engineering, Tianjin University, 135 Yaguan Road, Tianjin 300350, China
| | - Yan Chen
- Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, 135 Yaguan Road, Tianjin 300350, China.,School of Mechanical Engineering, Tianjin University, 135 Yaguan Road, Tianjin 300350, China
| | - Degao Hou
- Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, 135 Yaguan Road, Tianjin 300350, China.,School of Mechanical Engineering, Tianjin University, 135 Yaguan Road, Tianjin 300350, China
| | - Zhong You
- School of Mechanical Engineering, Tianjin University, 135 Yaguan Road, Tianjin 300350, China.,Department of Engineering Science, University of Oxford, Parks Road, Oxford OX1 3PJ, UK
| |
Collapse
|
41
|
A Crawling Soft Robot Driven by Pneumatic Foldable Actuators Based on Miura-Ori. ACTUATORS 2020. [DOI: 10.3390/act9020026] [Citation(s) in RCA: 18] [Impact Index Per Article: 4.5] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 11/16/2022]
Abstract
Origami structures are highly demanded for engineering applications. Using origami folding to design and actuate mechanisms and machines offers attractive opportunities. In this paper, we design a crawling robot driven by pneumatic foldable actuators (PFAs) based on Miura-ori, according to the parallel foldable structure and different control patterns, which can perform different movements. The PFA inspired from Miura-ori is composed of a folding part, transition part, and sealing part, made by flexible materials and a paper skeleton. This actuator can obtain a large deformation by folding under negative pressure due to its own characteristics, and the relationship between deformation and pressure is analyzed. According to the different folding and unfolding times of left and right actuators, the crawling robot can perform both linear and turning movements. The speed of the robot is about 5 mm/s and it can turn at a speed of about 15°/s. The crawling robot uses the ability of the foldable structure to cope with the challenges of different environments and tasks.
Collapse
|
42
|
Foris A, Wagener N, Boots B, Mazumdar A. Exploiting Singular Configurations for Controllable, Low-Power Friction Enhancement on Unmanned Ground Vehicles. IEEE Robot Autom Lett 2020. [DOI: 10.1109/lra.2020.2977266] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/06/2022]
|
43
|
Design and Experiment of Banana De-Handing Device Based on Symmetrical Shape Deployable Mechanism. Symmetry (Basel) 2020. [DOI: 10.3390/sym12030415] [Citation(s) in RCA: 4] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/16/2022] Open
Abstract
Aiming at the problem that the banana de-handing device has poor radial deployment to the banana bunch stalk during the mechanized banana de-handing procedure, this paper presented a ring deployable mechanism based on a set of planar seven-bar linkages. It consists of multiple basic deployable units, which has great folding/deploying performance and is suitable for manufacturing a banana de-handing device, the diameter of which can be variably larger. The kinematics analysis of the mechanism was done, and the trajectory in space was obtained. When the mechanism is fully deployed, the diameter is 164 mm. The ratio of the folded height to the deployed diameter is 0.732, the ratio of the folded diameter to the deployed diameter is 0.262, and the ratio of the folded volume to the maximum of the deployed volume is 0.069. An experimental prototype of 500, 500, and 768 mm in length, width, and height was manufactured, and the deploying performance was analyzed to show the feasibility. Finally, experimental results show that 71.43% of the banana hands are de-handed successfully. The mechanism has a great deploying effect on banana bunch stalk, and the quality of the banana crown incision is good.
Collapse
|
44
|
Abstract
The integration of soft actuating materials within origami-based mechanisms is a novel method to amplify the actuated motion and tune the compliance of systems for low stiffness applications. Origami structures provide natural flexibility given the extreme geometric difference between thickness and length, and the energetically preferred bending deformation mode can naturally be used as a form of actuation. However, origami fold patterns that are designed for specific actuation motions and mechanical loading scenarios are needed to expand the library of fold-based actuation strategies. In this study, a recently developed optimization framework for maximizing the performance of compliant origami mechanisms is utilized to discover optimal actuating fold patterns. Variant patterns are discovered through exploring different symmetries in the input and output conditions of the optimization problem. Patterns designed for twist (rotational symmetry) yield significantly better performance, in terms of both geometric advantage and energy requirements, than patterns exhibiting vertical reflection symmetries. The mechanical energy requirements for each design are analyzed and compared for both the small and large applied displacement regimes. Utilizing the patterns discovered through optimization, the multistability of the actuating arms is demonstrated empirically with a paper prototype, where the stable configurations are accessed through local vertex pop-through instabilities. Lastly, the coupled mechanics of fold networks in these actuators yield useful macroscopic motions and can achieve stable shape change through accessing the local vertex instabilities. This survey of origami mechanisms, energy comparison, and multistability characterization provides a new set of designs for future integration with soft actuating materials.
Collapse
|
45
|
Yellowhorse A, Lang RJ, Tolman K, Howell LL. Creating Linkage Permutations to Prevent Self-Intersection and Enable Deployable Networks of Thick-Origami. Sci Rep 2018; 8:12936. [PMID: 30154577 PMCID: PMC6113247 DOI: 10.1038/s41598-018-31180-4] [Citation(s) in RCA: 10] [Impact Index Per Article: 1.7] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 06/11/2018] [Accepted: 08/10/2018] [Indexed: 11/21/2022] Open
Abstract
Origami concepts show promise for creating complex deployable systems. However, translating origami to thick (non-paper) materials introduces challenges, including that thick panels do not flex to facilitate folding and the chances for self-intersection of components increase. This work introduces methods for creating permutations of linkage-based, origami-inspired mechanisms that retain desired kinematics but avoid self-intersection and enable their connection into deployable networks. Methods for reconfiguring overconstrained linkages and implementing them as modified origami-inspired mechanisms are proved and demonstrated for multiple linkage examples. Equations are derived describing the folding behavior of these implementations. An approach for designing networks of linkage-based origami vertices is demonstrated and applications for tessellations are described. The results offer the opportunity to exploit origami principles to create deployable systems not previously feasible.
Collapse
Affiliation(s)
- Alden Yellowhorse
- Dept. Mechanical Engineering, Brigham Young University, Provo, UT, 84602, USA
| | | | - Kyler Tolman
- Toyota Motor North America, Saline, MI, 48176, USA
| | - Larry L Howell
- Dept. Mechanical Engineering, Brigham Young University, Provo, UT, 84602, USA.
| |
Collapse
|