Design and Analysis of Origami-Inspired, Large-Elongation, Reconfigurable Soft Robot Modules

Abstract

This work presents the design and analysis of a Yoshimura origami-inspired reconfigurable soft robot capable of achieving elongations up to 800% before fracture. By reconfiguring the modules between serial and parallel attachments, the robot collective can achieve linear motion, curvilinear motion, rotary motion, and locomotion. Experimental data (ie. fatigue, uniaxial tensile testing, and biaxial tensile testing) were used to validate computational results and gain further insight into performance and operational lifetime. Using Newton's second law with a quasi-static assumption, an implicit model relating the end effector position to external forces and pressure was derived. Further, a suite of computational finite element analyses was used to determine structural and buckling behaviors. With these analysis techniques, it was determined that up to 400% elongation, no perceptible damage occurred, making these modules feasible for long-term use.