Academy of Interdisciplinary Studies Division of Integrative Systems and Design 251 Fabrication of Origami Actuators Supervisor: Rob SCHARFF / ISD Student: LI Jiayun / ISD XU Jusen / ISD Course: UROP 2100, Summer UROP 1100, Summer Origami robotics has emerged as a promising direction in soft robotics, offering advantages over traditional rigid robots in terms of adaptability, cost-effectiveness, and reduced actuator complexity. This project explores origami patterns, actuation methods, fabrication methods and existing limitations. This project initially utilized SolidWorks for kinematic modelling but encountered inefficiencies, leading to a migration to Rhino and Grasshopper for real-time parametric design and rapid prototyping. This shift significantly improved workflow efficiency, enabling faster iteration and validation of origami structures. The findings highlight the potential of origami-inspired robotics in achieving high degrees of freedom with minimal actuators while maintaining adaptability for diverse applications. LI Jiayun wrote the introduction, literature review, patterns, and fabrication method; Xu Jusen wrote the abstract, actuation method, and project progress. Hydraulic Soft Robot Arm Inspired by the Octopus Supervisor: Rob SCHARFF / ISD Student: NG Hau Yi Chloe / COMP Course: UROP 1100, Summer Soft robotics arms lack the rigid positioning portion for precise point-to-point movements and a gripper at the tip for grasping objects, hence it is difficult to design a soft robotic arm that positions and grasps separately. Nature offers a wealth of inspiration for engineering challenges, one compelling example is the octopus arm, which exhibits remarkable dexterity, whole-arm manipulation, and dynamic stiffness control without rigid skeletal structures. Taking reference from the unique features of octopus tentacle and findings from the previous pneumatic prototype of the arm, this study focuses on designing and developing a hydraulic, waterproof version of the soft robotic arm that is suitable for usage on a remotely operated vehicle (ROV). In particular, the choice of durable equipment and materials that can withstand the high pressure deep underwater and the waterproofing of electrical components have to be taken into account when designing the hydraulic version of the arm. Hydraulic Soft Robot Arm Inspired by the Octopus Supervisor: Rob SCHARFF / ISD Student: WEI Yang / ISD Course: UROP 1000, Summer This study presents an advanced miniaturized octopus-inspired suction cup for soft continuum robotic arms, enhancing adhesion and sensory capabilities through optimized structural design and marker layouts. Modeled after Octopus vulgaris, the suction cup incorporates a refined dual-chamber structure for greater response and ChromaTouch markers with optimized layouts for higher sensitivity in real-time adhesive strength estimation. Parametric modeling with 34 adjustable parameters facilitates rapid customization, complemented by PolyJet 3D printing for precise fabrication using Agilius materials. An endoscope camera minimizes size while maintaining performance, and a single-pump system improves efficiency for multi-cup applications. This enhanced design propels soft robotics forward by enabling more robust manipulation and perception in unstructured environments. Future work emphasizes integrating multiple suction cups to further augment soft arm functionality.
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