ORIGAMI-INSPIRED ACTUATION MECHANISM FOR SOFT ROBOTICS

Abstract

This study explores Kresling structures, focusing on their bistability and an actuation mechanism using Kresling origami, permanent magnets and solenoids. The process begins with crafting Kresling origami using paper and digital design in SolidWorks, followed by static behavior analysis using MATLAB simulations. Leveraging Kresling origami's bistability as a nonlinear spring, dynamic analyses are conducted without external forces, then under electromagnetic forces to simulate actuation. Parameters like displacement, mass, and time duration of force application are varied for diverse results. The findings have implications for crawling robots and energyefficient relays. Kresling structures, with their mechanical bistability, have garnered interest for various applications. Fabrication starts with paper folding, refined using digital tools for precise modeling. Static behavior analysis elucidates mechanical properties, guiding subsequent dynamic analyses. MATLAB simulations aid in understanding dynamic behavior, foundational for investigating responses to external stimuli. Magnetic forces simulate actuation, allowing parameter variation to explore performance and limitations. Practical implications include efficient actuation for crawling robots and energy-efficient relays in electrical engineering. The study contributes to mechanical engineering and robotics. Future research could optimize performance for specific tasks. Acknowledgments are extended to contributors, and references offer avenues for further exploration.