Single-Motor Controlled Tendon-Driven Peristaltic Soft Origami Robot

Author:

Banerjee Hritwick1,Pusalkar Neha1,Ren Hongliang1

Affiliation:

1. Laboratory of Medical Mechatronics, Department of Biomedical Engineering, Faculty of Engineering, National University of Singapore, Singapore 117583 e-mail:

Abstract

Origami-based paper folding is being used in robotics community to provide stiffness and flexibility simultaneously while designing smart structures. In this paper, we propose a novel design inspired by origami pattern service robot, which transforms its shape in the axial direction and introduce peristaltic motion therein. Here, servo motor is being used for translational actuation and springs maneuver self-deployable structure when necessary. Self-deployable springs are compressed by the application of axial force as the string gets wound around the servo motor programed to rotate with a particular speed for specified time duration. Specially coated photopolymer resin structures have been used to provide external rigidity to the springs so to avoid buckling while operation. In future, this friction coated origami service robot is envisioned to be used in an unstructured environment as the scope of applications increases at the nexus of surgical robotic navigation, houses to disaster areas.

Funder

Ministry of Education - Singapore

National University of Singapore

Publisher

ASME International

Subject

Mechanical Engineering

Reference15 articles.

1. A Soft Robot That Navigates Its Environment Through Growth;Sci. Rob.,2017

2. Soft Robotics With Compliance and Adaptation for Biomedical Applications and Forthcoming Challenges;Int. J. Rob. Autom.,2018

3. Design and Analysis of a Soft Pneumatic Actuator With Origami Shell Reinforcement;Soft Rob.,2016

4. A Soft Tube-Climbing Robot;Soft Rob.,2017

5. Optimizing Double-Network Hydrogel for Biomedical Soft Robots;Soft Rob.,2017

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