Design Methodology for a 3D Printable Multi-Degree of Freedom Soft Actuator Using Geometric Origami Patterns

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 pneumatic actuator capable of bending and extension can be constructed by superimposing two cylindrical origami patterns to create a separation of chambers inside of the module. In addition, the design parameters are chosen to reduce the strain during deformation and maximize the output forces of the origami actuator. The actuator is manufactured, and its motion and force profiles are experimentally characterized. The designed origami actuator can bend from (Formula presented.) to (Formula presented.) and the length during operation can vary between (Formula presented.) and (Formula presented.) of the initial length.