Self-locking Pneumatic Modular Actuators using Origami Shape Morphing Sheets

Abstract

Origami finds applications in architecture, the aerospace field, and soft robotics because flat sheets exhibit versatile, complex shape changes. Especially, origami robots have a great potential in confined space due to their reconfigurability and deployability. Early origami robots could not be used in high-capacity real work environments because they lacked stiffness. Here, novel, origami pneumatic actuators capable of self-lock were described. Our new origami-based patterns allow for various shape morphing such as linear and rotational motion; stiffness was greatly enhanced by embedding magnets in the composite sheets. Self-adjustable valves, embedded in the actuators, control the sequential origami actuations. The pneumatic systems of multi-modules were simplified; there is only one actuation source and one solenoid. Our self-locking pneumatic modular actuators (SPMAs) can control robotic arms operating in confined spaces; various tasks can be performed by modularizing the entire system.