A high-performance elastic-soft hybrid pneumatic actuator with origami structure

Soft pneumatic actuators have attracted considerable interest in recent years due to their high output force, large deflection and safe operation features. Despite extensive research, achieving a balance between the simplicity of the structural design and the performance of the actuator motion remains a significant challenge. This study introduces an elastic-soft hybrid pneumatic actuator, which integrates an origami chamber and an elastic plate. Unlike traditional symmetric cylindrical origami chamber based on hyperelastic material, the proposed chamber is made of soft but unstretchable fabric, which incorporates an asymmetric quadrilateral geometric configuration, enabling the generation of high output forces and large deflection capabilities. The elastic plate is strategically affixed to the chamber, serving to establish stiffness anisotropy and to induce controlled directional bending. A fabrication method based on 3D printing technology is proposed as a means of enabling the rapid and high-precision manufacturing of the actuator. This design exhibits high motion accuracy, low dead weight, and delivers significant output force. Moreover, a kineto-static analytical model is further established based on the principle of virtual work and discretization method. This model enables precise predict of the actuator, thereby enhancing the control performance of the system. The experimental validation of the motion performance of the actuator prototype and the theoretical model’s accuracy is presented. Additionally, a parallel pneumatic manipulator is developed to demonstrate the actuator’s capability in executing precise manipulation tasks. This research offers a novel perspective on the design and application of straightforward, high-performance soft pneumatic actuators with origami structures.