| With the development of science and smart materials,soft robots have become a hotspot in the field of robot research.The actuator is the core of soft robot.Different types of actuators can give soft robots the different functions.In recent years,the origami structure has been used more and more in engineering,the origami structure has provided new ideas for the design of soft robots.Based on the Miura-origami structure and according to its high storage ratio,a pneumatic foldable actuator(PFA)is designed.This actuator can unfold and extended under positive pressure,and fold and contracted under negative pressure.The PFA has large length change in small pressure range and fast response speed,which can match the demands of soft robots.The main research and achievements are as follows:(1)The PFA was designed based on Miura folding structure and the feasibility of its actuation was verified.The deformation of the PFA under positive pressure and negative pressure was analyzed using finite element analysis software,and the relationship between different factors and the deformation of the PFA was studied.The separate silicone casting molds was designed.The PFA was fabricated by silicone and office paper,and the complete preparation process was summarized.(2)From the perspective of energy conservation,combining the characteristics of origami structure and nonlinear deformation of silicon,the relationship between the deformation of the PFA and the driving air pressure is established.And the relationship between air volume,air pressure,and displacement of the PFA was tested by the setup we build,as well as the behavior of the PFA versus load.(3)Based to the deformation characteristics of the PFA,a crawling software robot with a light weight and good movement ability was designed.And a multi-channel controllable pneumatic experimental setup was built,the linear and turning movement of the crawling robot driven by PFA was tested.The practicability of the PFA based on the Miura-ori was verified. |
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