Mechanical Sciences
Mechanical Sciences
Mechanical Sciences
Articles | Volume 16, issue 1
Articles | Volume 16, issue 1
https://doi.org/10.5194/ms-16-61-2025
© Author(s) 2025. This work is distributed under
the Creative Commons Attribution 4.0 License.
https://doi.org/10.5194/ms-16-61-2025
© Author(s) 2025. This work is distributed under
the Creative Commons Attribution 4.0 License.
Articles | Volume 16, issue 1
Research article
 | 
24 Jan 2025
Research article |  | 24 Jan 2025

Design and validation of a programmable dual-tunnel soft pneumatic origami actuator with a large maximum shrinkage rate for reciprocating motion

Rongna Xu, Qiaoling Meng, Qiaolian Xie, Yuxin Zheng, Cuizhi Fei, Vincenzo Parenti Castelli, and Hongliu Yu

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Short summary
This paper proposes a novel dual-tunnel soft pneumatic origami actuator to provide a large maximum shrinkage rate for reciprocating motion. A programmed design method is proposed based on the geometric parameter model and stiffness model of the actuator. In comparison to other actuators, this actuator weighs only 5 g, and the force-to-weight ratio is 600. The maximum shrinkage rate of the actuator is 61 %, increasing the potential for lightweight and compact devices.
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