Design, Fabrication, and Evaluation of a Vacuum-powered Soft Worm Robot with an Origami-based Structure

Soft robots are usually bio-inspired mechanisms that utilize compliant materials to prevent any harm to humans and the environment. Origami can be used to integrate fascinating features in a compliant mechanism. In this paper, a new origami structure is used to provide a backbone for a worm robot entirely enabled by vacuum air pressure. Suction cups are used for legs to create selective traction on the ground using vacuum pressure. This approach can reduce cost and power to actuate a soft robot. Then, the soft worm robot is fabricated and evaluated to demonstrate its capability in navigation in a straight path and change of direction. Five solenoid valves, two vacuum pumps, one air pump, a DC power supply, and an Arduino Uno constitute the command and supply unit. Since its performance and speed is highly dependent on the capabilities of vacuum pumps, its performance can be ameliorated by improving mechanical components.

Keywords:

Bio-inspired Robotics , Origami , Soft Robot