Origami-based Soft Gripper with High Folding-unfolding Ratio: Theory and Experiment Analysis

doi:10.3901/JME.2024.05.051

Abstract

Abstract: The motion range of existing pneumatic soft grippers is mostly limited by their initial lengths, which is difficult to achieve the design goal of a small storage volume but large envelope range. Using modified Miura origami and pneumatic actuator, a soft gripper with a high folding-unfolding ratio is designed. Firstly, based on the Miura origami, a tube origami structure having a couple motion between bending and unfolding is designed. Under the assumption of rigid panels, the effect of geometric parameters, i.e., side length and included angle, on the curvature radius and bending angle of the model is analyzed. Secondly, finite element analysis is used to investigate the deformation of the origami soft gripper with finite-size-thickness panels. Finally, 3D printing and layer by layer pouring are used to make a real gripper, which verified the folding performance and grasping performance of the soft gripper. This work is expected to provide theoretical supports for the design of space garbage grabbing robots.

Key words: origami, high folding-unfolding ratio, soft gripper, layer by layer pouring

CLC Number:

TP242

DENG Dongxuan, LI Jihu, ZHU Zhiwei, DENG Zichen. Origami-based Soft Gripper with High Folding-unfolding Ratio: Theory and Experiment Analysis[J]. Journal of Mechanical Engineering, 2024, 60(5): 51-58.

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