螺旋折紙構造を応用したソフトアクチュエータとソフトロボットの開発

抄録

With the declining birthrate, aging population, and diversification of work styles, there is a need for robot technology that can cover the physical capabilities of the elderly and on gender. Therefore, a soft actuator for manipulator-type robot with a non-inverted helix origami structure was investigated by simulation. By combining origami structures with helix winding in opposite directions, a soft actuator with two degrees of freedom, bending and torsion, can be realized. The optimal arrangement of the folding springs was obtained by the optimal design method, resulting in a bending angle of approximately 0.17 rad. The optimal arrangement of the folding spring was shown to be one in which the strong and weak parts of the spring are concentrated on opposite sides of the center line of the origami structure, respectively, and both parts are aligned along the spiral direction opposite to that of the origami structure.