Design Methodology for a 3D Printable Multi‐Degree of Freedom Soft Actuator Using Geometric Origami Patterns
Yoeko X. Mak,
Alexander Dijkshoorn,
Momen Abayazid
Abstract:Soft pneumatic actuators (SPAs) have applications in various domains due to their compliance, low cost, and lightweight characteristics. Herein, a geometric origami design for 3‐degree of freedom (DoF) SPAs is presented, which enables manufacturing using 3D printing at one go without any support structure. The proposed method uses a general design parameterization that works for multiple types of cylindrical origami patterns (Kresling, cylindrical Miura, Yoshimura, and Accordion). It is shown that a 3‐DoF pneu… Show more
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