Technical Brief

Single-Motor Controlled Tendon-Driven Peristaltic Soft Origami Robot

[+] Author and Article Information
Hritwick Banerjee

Laboratory of Medical Mechatronics,
Department of Biomedical Engineering,
Faculty of Engineering,
National University of Singapore,
Singapore 117583
e-mail: biehb@nus.edu.sg

Neha Pusalkar

Laboratory of Medical Mechatronics,
Department of Biomedical Engineering,
Faculty of Engineering,
National University of Singapore,
Singapore 117583
e-mail: nehapusalkar@students.vnit.ac.in

Hongliang Ren

Laboratory of Medical Mechatronics,
Department of Biomedical Engineering,
Faculty of Engineering,
National University of Singapore,
Singapore 117583
e-mail: hlren@ieee.org

1Corresponding author.

Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANISMS AND ROBOTICS. Manuscript received December 21, 2017; final manuscript received August 5, 2018; published online September 7, 2018. Assoc. Editor: Robert J. Wood.

J. Mechanisms Robotics 10(6), 064501 (Sep 07, 2018) (5 pages) Paper No: JMR-17-1430; doi: 10.1115/1.4041200 History: Received December 21, 2017; Revised August 05, 2018

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.

Copyright © 2018 by ASME
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Grahic Jump Location
Fig. 1

(a) PLA based 3D printed module for deformation mechanism consisting two submodules in series. Hexagonal plate in (b) top view and (d) front view. These hexagonal plate structures present an external support for springs. Cylindrical thread holder in (c) top view and (e) front view. 0.5 mm diameter holes are drilled through the center of the cylinders. Dimensions are in cm (not to scale).

Grahic Jump Location
Fig. 2

Schematic diagram of actuation and friction coated origami inspired soft robot. Two submodules (Spring A and B) to attain deformation connected to servo motor for alternate expansion/compression for resultant motion control. Customized Arduino UNO microcontroller senses feedback force generated from spring module and governs motion panning. A nylon thread is wound symmetrically on to the shaft of servo motor to support uniform expansion and compression on both the sides.

Grahic Jump Location
Fig. 3

The first three folding of the origami inspired robot and their deformations in time lapse scale. Here, two distinct coordinate systems have been portrayed, one on the left side determines the true expansion from tail end to head of the robot, while the other determines position change during last time scale from head to the deformed body (denoted as *).

Grahic Jump Location
Fig. 4

Calibrated synchronous motion generation for simultaneous expansion/contraction morphodynamics. (a) Time lapse images of synchronous motion, when both sides of origami inspired robot expand and contract simultaneously. (b) Time duration of 20 s were taken for one complete cycle of compression followed by expansion and finally revert back to initial stand still state (figures not to scale).

Grahic Jump Location
Fig. 5

Time lapse images for peristaltic motion of origami inspired mobile soft robot inside a pipe of 20 cm diameter. Time duration of 12 min 28 s were taken for axial movement to traverse the length of pipe, i.e., 30 cm. Motor module is housed inside soft robot with 3.5 cm thickness as demonstrated in (f). All figures denoted here are not to scale.



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