Origami-Inspired Soft Pneumatic Actuators: Generalization and Design Optimization

Author:

Zaghloul Abdelrahman1,Bone Gary M.2

Affiliation:

1. Department of Mechatronic Engineering, Military Technical College, Cairo 11766, Egypt

2. Department of Mechanical Engineering, McMaster University, Hamilton, ON L8S 4L8, Canada

Abstract

Soft actuators are essential to soft robots and can also be used with rigid-bodied robots. This paper is focused on methods for improving the applicability of origami-inspired soft pneumatic actuators (OSPA). Our method for rapidly fabricating OSPA is shown to be capable of making a range of actuator sizes out of different materials. The largest OSPA has a force-to-weight ratio of 124, and can lift a 44 kg mass using a −85 kPa supply pressure. Experiments with a smaller OSPA demonstrate that it can perform 150,000 contraction/extension cycles while carrying a 2 kg mass with minimal degradation due to its materials and design. Compared to other OSPAs for which fatigue tests were reported, our accordion pattern OSPA has the best values of work-to-mass ratio, max. force, and fatigue life. A computationally efficient FEA-based constrained optimization method for maximizing an OSPA’s work output is then proposed. A 55% improvement in the work output was predicted, while validation experiments with OSPA prototypes showed a 53% improvement. While these improvement percentages are very similar, the values of the predicted stroke and work output are about 16% larger than the experimental values. The optimization requires only ~5 h to run on a common laptop.

Funder

Natural Sciences and Engineering Research Council of Canada

Publisher

MDPI AG

Subject

Control and Optimization,Control and Systems Engineering

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