基于折纸结构的收纳式软体抓手设计与试验

The motion range of existing pneumatic soft grippers is mostly limited by their initial lengths, which is difficult to achieve the design goal of a small storage volume but large envelope range. Using modified Miura origami and pneumatic actuator, a soft gripper with a high folding-unfolding ratio is designed. Firstly, based on the Miura origami, a tube origami structure having a couple motion between bending and unfolding is designed. Under the assumption of rigid panels, the effect of geometric parameters, i.e., side length and included angle, on the curvature radius and bending angle of the model is analyzed. Secondly, finite element analysis is used to investigate the deformation of the origami soft gripper with finite-size-thickness panels. Finally, 3D printing and layer by layer pouring are used to make a real gripper, which verified the folding performance and grasping performance of the soft gripper. This work is expected to provide theoretical supports for the design of space garbage grabbing robots.