Design and Performance Analysis of Novel Origami Pneumatic Soft Actuator
To realize the large deformation of pneumatic soft actuator,an origami structure with folding deformation is employed to design a novel soft actuator.The relationship between the air pressure of the actuator and its bending angle is established,the kinematic model of the soft actuator is built,and the influence of structural parameters on the bending performance of the actuator is analyzed.The analysis result shows that the change of the bending shape can be achieved by adjusting the air pressure.The prototype of the soft actuator is fabricated,and the experimental test is carried out.The experimental results show that the designed soft actuator has two different bending characteristics,which can exhibit different motion forms,and can manipulate objects with smooth,fragile and deformable such as tofu and fruit.When the air pressure of the soft actuator is 100 kPa,the manipulation force can reach 11 N.This shows that the proposed actuator has good shape adaptability and high load capacity,which provides a new idea for the soft actuator.
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