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.
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December 2018
Technical Briefs
Single-Motor Controlled Tendon-Driven Peristaltic Soft Origami Robot
Hritwick Banerjee,
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
Department of Biomedical Engineering,
Faculty of Engineering,
National University of Singapore,
Singapore 117583
e-mail: biehb@nus.edu.sg
Search for other works by this author on:
Neha Pusalkar,
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
Department of Biomedical Engineering,
Faculty of Engineering,
National University of Singapore,
Singapore 117583
e-mail: nehapusalkar@students.vnit.ac.in
Search for other works by this author on:
Hongliang Ren
Hongliang Ren
Laboratory of Medical Mechatronics,
Department of Biomedical Engineering,
Faculty of Engineering,
National University of Singapore,
Singapore 117583
e-mail: hlren@ieee.org
Department of Biomedical Engineering,
Faculty of Engineering,
National University of Singapore,
Singapore 117583
e-mail: hlren@ieee.org
Search for other works by this author on:
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
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
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
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. Dec 2018, 10(6): 064501 (5 pages)
Published Online: September 7, 2018
Article history
Received:
December 21, 2017
Revised:
August 5, 2018
Citation
Banerjee, H., Pusalkar, N., and Ren, H. (September 7, 2018). "Single-Motor Controlled Tendon-Driven Peristaltic Soft Origami Robot." ASME. J. Mechanisms Robotics. December 2018; 10(6): 064501. https://doi.org/10.1115/1.4041200
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