Deployable Soft Pneumatic Networks (D-PneuNets) Actuator with Dual-morphing Origami Chambers for High Compactness
Deployable Soft Pneumatic Networks (D-PneuNets) Actuator with Dual-morphing Origami Chambers for High Compactness
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DOI：
10.1109/lra.2021.3137504
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发表时间：
2021
影响因子：
5.2
通讯作者：
Woongbae Kim;Bada Seo;S. Yu;Kyu-Jin Cho
中科院分区：
文献类型：
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作者：
Woongbae Kim;Bada Seo;S. Yu;Kyu-Jin Cho
软气动网络 (PneuNets) 执行器被广泛认为是一种安全且简单的机器人解决方案，但输出力和体积之间的权衡关系限制了可用性。在这封信中，我们提出了一种可部署的软气动网络（D-PneuNets）执行器，由折纸设计的腔室组成。为了响应所施加的压力，折纸室迅速展开以增加力臂，同时通过相互接触和不对称加长而膨胀以弯曲整个身体。因此，D-PneuNets 执行器可以产生相对较大的力，并且在不使用时也提供紧凑性。实验和有限元分析结果表明，与相同初始高度的传统软气动网络执行器相比，D-PneuNets执行器可以增长超过其初始高度的2.5倍，并产生10倍以上的输出力。此外，还开发了具有相对刚性侧壁的双材料折纸室，以防止不必要的凸起。最后，开发并验证了使用 D-PneuNets 执行器的机器人软手套，用于抓取各种日常物体。我们的方法提供了一种设计策略来克服软气动网络执行器的权衡关系，从而实现软机器人设备的紧凑设计。
Soft pneumatic networks (PneuNets) actuators are widely considered as a robotic solution for safety and simplicity, yet the trade-off relationship between output force and bulkiness limits usability. In this letter, we propose a deployable soft pneumatic networks (D-PneuNets) actuator consisting of origami-designed chambers. In response to applied pressure, the origami chambers rapidly deploy to increase the moment arm, while simultaneously inflating to bend the whole body through mutual contacts and asymmetric lengthening. Consequently, the D-PneuNets actuator can generate relatively large force, and also provide compactness when not in use. Experiment and finite element analysis results show that the D-PneuNets actuator can grow more than 2.5 times of its initial height, and generate an output force more than 10 times higher compared to that of a conventional soft pneumatic networks actuator with the same initial height. In addition, a dual-material origami chamber with relatively stiff side walls was developed to prevent an unnecessary bulge out. Finally, a robotic soft glove using D-PneuNets actuators was developed and verified for grasping various everyday-objects. Our approach offers a design strategy to overcome the trade-off relationship of soft pneumatic networks actuators, enabling compact designs of soft robotic devices.