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Open AccessArticle

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

1
College of Mechanical and Electrical Engineering, Beijing University of Chemical Technology, Beijing 100029, China
2
Qian Xuesen Laboratory of Space Technology, Beijing 100094, China
*
Authors to whom correspondence should be addressed.
Actuators 2020, 9(2), 26; https://doi.org/10.3390/act9020026
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
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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.

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