液体シリコーン3Dプリンタを用いた折り紙構造を有する空気圧アクチュエータモジュール

抄録

This paper focuses on the fabrication of pneumatic actuators with origami structures. In recent years, pneumatic actuators have been used in grippers, manipulation, walking and underwater motion. They are classified as PneuNet, fiber-reinforced, bellows actuators, and actuators with origami structures. However, the fabrication process of actuators with origami structure is complicated when silicone is used. Therefore, in this paper, we simplified the fabrication process by using a liquid silicone 3D printer. In addition, to further increase the adaptability of the actuator, it was made into a module. The module was fabricated by dividing it into bottom and side parts. The ”Kresling” origami structure was used for the sides. This structure allows for axial expansion and contraction and rotational movement around an axis. After each part was fabricated, they were glued together using the same silicone.