Origami has become an optimal methodological choice for creating complex three-dimensional(3D)structures and soft robots.The simple and low-cost origami-inspired folding assembly provides a new method for developing 3...Origami has become an optimal methodological choice for creating complex three-dimensional(3D)structures and soft robots.The simple and low-cost origami-inspired folding assembly provides a new method for developing 3D soft robots,which is ideal for future intelligent robotic systems.Here,we present a series of materials,structural designs,and fabrication methods for developing independent,electrically controlled origami 3D soft robots for walking and soft manipulators.The 3D soft robots are based on soft actuators,which are multilayer structures with a dielectric elastomer(DE)film as the deformation layer and a laser-cut PET film as the supporting flexible frame.The triangular and rectangular design of the soft actuators allows them to be easily assembled into crawling soft robots and pyramidal-and square-shaped 3D structures.The crawling robot exhibits very stable crawling behaviors and can carry loads while walking.Inspired by origami folding,the pyramidal and square-shaped 3D soft robots exhibit programmable out-of-plane deformations and easy switching between two-dimensional(2D)and 3D structures.The electrically controllable origami deformation allows the 3D soft robots to be used as soft manipulators for grasping and precisely locking 3D objects.This work proves that origami-inspired fold-based assembly of DE actuators is a good reference for the development of soft actuators and future intelligent multifunctional soft robots.展开更多
基金sponsored by the Regional Joint Fund of the National Science Foundation of China(Grant No.U21A20492)the National Key R&D Program of China(Grant No.2018YFB0407102)+6 种基金the City University of Hong Kong(Grant Nos 9667221,9680322)the Research Grants Council of the Hong Kong Special Administrative Region(Grant No.21210820,11213721)the Shenzhen Science and Technology Innovation Commission(Grant No.JCYJ20200109110201713)the Natural Science Foundation of Chongqing Municipality(Grant No.cstc2019jcyjjqX0021)the Science and Technology Innovation Leading Talents Program of Chongqing Municipality(No:T04040012)Science and Technology of Sichuan Province(Grant No.2020YFH0181)the National Natural Science Foundation of China(NSFQ(Grant Nos.U21A20492,62122002).
文摘Origami has become an optimal methodological choice for creating complex three-dimensional(3D)structures and soft robots.The simple and low-cost origami-inspired folding assembly provides a new method for developing 3D soft robots,which is ideal for future intelligent robotic systems.Here,we present a series of materials,structural designs,and fabrication methods for developing independent,electrically controlled origami 3D soft robots for walking and soft manipulators.The 3D soft robots are based on soft actuators,which are multilayer structures with a dielectric elastomer(DE)film as the deformation layer and a laser-cut PET film as the supporting flexible frame.The triangular and rectangular design of the soft actuators allows them to be easily assembled into crawling soft robots and pyramidal-and square-shaped 3D structures.The crawling robot exhibits very stable crawling behaviors and can carry loads while walking.Inspired by origami folding,the pyramidal and square-shaped 3D soft robots exhibit programmable out-of-plane deformations and easy switching between two-dimensional(2D)and 3D structures.The electrically controllable origami deformation allows the 3D soft robots to be used as soft manipulators for grasping and precisely locking 3D objects.This work proves that origami-inspired fold-based assembly of DE actuators is a good reference for the development of soft actuators and future intelligent multifunctional soft robots.
