Xu Yan, Ju Kaiwen, Zhang Chao
School of Aeronautics and Astronautics, Zhejiang University, Hangzhou, Zhejiang 310027, China.
Huanjiang Laboratory, Zhuji, Zhejiang 311800, China.
Cyborg Bionic Syst. 2024 Mar 28;5:0111. doi: 10.34133/cbsystems.0111. eCollection 2024.
A novel wrist-inspired soft actuator, which is driven by a magneto-pneumatic hybrid system and based on a Kresling origami unit, is proposed. The geometric model, kinematic analysis model, and quasistatic analysis model of the Kresling origami unit are presented. A key focus is on the formulation and investigation of the variation in rotation angle using the kinematic analysis model. A wrist-inspired soft actuator is designed, and its quasistatic characteristics are validated through various experiments. The paper proposes an innovative magneto-pneumatic hybrid actuation method, capable of achieving bidirectional torsion. This actuation method is experimentally validated, demonstrating the actuator's ability to maintain 3 steady states and its capability for bidirectional torsion deformation. Furthermore, the paper highlights the potential of the Kresling origami unit in designing soft actuators capable of achieving large rotation angles. For instance, an actuator with 6 sides ( = 6) is shown to achieve a rotation angle of 239.5°, and its rotation ratio exceeds 277°, about twice the largest one reported in other literature. The actuator offers a practical and effective solution for bidirectional torsion deformation in soft robotic applications.
提出了一种新型的受手腕启发的软驱动器，该驱动器由磁气动混合系统驱动，并基于克雷斯林折纸单元。给出了克雷斯林折纸单元的几何模型、运动学分析模型和准静态分析模型。重点是利用运动学分析模型来建立和研究旋转角度的变化。设计了一种受手腕启发的软驱动器，并通过各种实验验证了其准静态特性。本文提出了一种创新的磁气动混合驱动方法，能够实现双向扭转。该驱动方法经过实验验证，证明了该驱动器能够保持3种稳定状态以及具有双向扭转变形的能力。此外，本文强调了克雷斯林折纸单元在设计能够实现大旋转角度的软驱动器方面的潜力。例如，一个具有6个面（=6）的驱动器能够实现239.5°的旋转角度，其旋转比超过277°，约为其他文献报道的最大旋转比的两倍。该驱动器为软机器人应用中的双向扭转变形提供了一种实用有效的解决方案。
