Next Article in Journal
Development of Point-to-Point Path Control in Actuator Space for Hydraulic Knuckle Boom Crane
Next Article in Special Issue
The Design, Kinematics and Torque Analysis of the Self-Bending Soft Contraction Actuator
Previous Article in Journal
A Modeling of Twisted and Coiled Polymer Artificial Muscles Based on Elastic Rod Theory
Previous Article in Special Issue
Soft Robotics: A Review of Recent Developments of Pneumatic Soft Actuators
Open AccessArticle

A Crawling Soft Robot Driven by Pneumatic Foldable Actuators Based on Miura-Ori

College of Mechanical and Electrical Engineering, Beijing University of Chemical Technology, Beijing 100029, China
Qian Xuesen Laboratory of Space Technology, Beijing 100094, China
Authors to whom correspondence should be addressed.
Actuators 2020, 9(2), 26;
Received: 5 March 2020 / Revised: 4 April 2020 / Accepted: 6 April 2020 / Published: 9 April 2020
(This article belongs to the Special Issue Pneumatic Soft Actuators)
Origami structures are highly demanded for engineering applications. Using origami folding to design and actuate mechanisms and machines offers attractive opportunities. In this paper, we design a crawling robot driven by pneumatic foldable actuators (PFAs) based on Miura-ori, according to the parallel foldable structure and different control patterns, which can perform different movements. The PFA inspired from Miura-ori is composed of a folding part, transition part, and sealing part, made by flexible materials and a paper skeleton. This actuator can obtain a large deformation by folding under negative pressure due to its own characteristics, and the relationship between deformation and pressure is analyzed. According to the different folding and unfolding times of left and right actuators, the crawling robot can perform both linear and turning movements. The speed of the robot is about 5 mm/s and it can turn at a speed of about 15°/s. The crawling robot uses the ability of the foldable structure to cope with the challenges of different environments and tasks. View Full-Text
Keywords: Miura-ori; crawling robot; foldable actuator; linear and turning movements Miura-ori; crawling robot; foldable actuator; linear and turning movements
Show Figures

Figure 1

MDPI and ACS Style

Yu, M.; Yang, W.; Yu, Y.; Cheng, X.; Jiao, Z. A Crawling Soft Robot Driven by Pneumatic Foldable Actuators Based on Miura-Ori. Actuators 2020, 9, 26.

Show more citation formats Show less citations formats
Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.

Article Access Map by Country/Region

Search more from Scilit
Back to TopTop