An Origami Continuum Manipulator with Modularized Design and Hybrid Actuation: Accurate Kinematic Modeling and Experiments

Abstract

Herein, this study contributes significantly to the advancement of continuum manipulators in two main aspects. First, a modularization concept and a hybrid actuation scheme to create a novel origami continuum manipulator with exceptional deformability are introduced. Second, an accurate model and framework for the forward and inverse kinematic analysis of origami manipulators are proposed. Specifically, each origami manipulator module can achieve axial extension and bending deformation by coordinated actuation of shape memory alloy (SMA) and pneumatic muscles, and the manipulator's end is equipped with a deformable gripper based on waterbomb origami and actuated by SMA. Through careful consideration of the self-weight and torque balance, an accurate kinematic model based on the Denavit–Hartenberg method is established, which enables one to effectively predict the reachable extreme positions and spatial poses of the manipulator and solve the inverse kinematics using a genetic algorithm. Comprehensive experiments are conducted to validate the design's rationality and model's accuracy. In these tests, the rich spatial configurations are not only demonstrated that can be achieved by integrating hybrid actuators with origami modules but also the accuracy and reliability of the kinematic model are confirmed, opening up possibilities for the advancement and application of origami-inspired robotics in various fields.