Origami robots have been introduced as a new soft robotic technology that can be easily constructed from planar sheets of material to create rigid or deformable linkages. With this Major Qualifying Project, the team investigated the capabilities of a modular soft robotic gripper with triangular beam and Yoshimura origami finger designs folded from PET plastic. Due to its origami design, the gripper is lightweight, flexible, and durable. A vision system working in conjunction with a position controller aided the gripper to determine and provide three stable grasp patterns to pick up an assortment of objects. The implementation of a switching control system has demonstrated the need for more adaptive control for this compliant gripper. This project provides a foundation for future research into origami grippers.

• This report represents the work of one or more WPI undergraduate students submitted to the faculty as evidence of completion of a degree requirement. WPI routinely publishes these reports on its website without editorial or peer review.

Creator

• Spry, Selina M.
• Medina Martinez, Maria D.
• Mederer, Anna C.

Publisher

• Worcester Polytechnic Institute

Identifier

• E-project-050521-164120
• 22351

Keyword

• gripper
• robotics
• origami
• soft robot

Advisor

• Calli, Berk
• Fu, Jie
• Onal, Cagdas

Year

• 2021

Date created

• 2021-05-05

Resource type

• Major Qualifying Project

Major

• Robotics Engineering
• Computer Science

Rights statement

• In Copyright

Last modified

• 2021-08-29