Multimodal motion of soft origami tripod using electrohydraulic actuator

Abstract

In this paper, a novel soft origami tripod structure that is scalable and controllable using electrohydraulic actuators is proposed. The parallel designed structure consists of three origami legs connecting the top and bottom plates. The tripod is activated with self-unfolding legs when electrohydraulic actuators are swelled by applied voltage. Each leg has the classic origami pattern waterbomb, which serves as a spherical joint. When the actuator is activated, the legs are stretched, lifting the top plate of the soft tripod in various directions. That is, the tripod has multimodal shape morphing, including linear and tilting motions with only three electrohydraulic actuators.