The art of origami has gained traction in various fields such as architecture, the aerospace industry, and soft robotics, owing to the exceptional versatility of flat sheets to exhibit complex shape transformations. Despite the promise that origami robots hold, their use in high-capacity environments has been limited due to the lack of rigidity. This article introduces novel, origami-inspired, self-locking pneumatic modular actuators (SPMAs), enabling them to operate in such environments. Our innovative approach is based on origami patterns that allow for various types of shape morphing, including linear and rotational motion. We have significantly enhanced the stiffness of the actuators by embedding magnets in composite sheets, thus facilitating their application in real-world scenarios. In addition, the embedded self-adjustable valves facilitate the control of sequential origami actuations, making it possible to simplify the pneumatic system for actuating multimodules. With just one actuation source and one solenoid valve, the valves enable efficient control of our SPMAs. The SPMAs can control robotic arms operating in confined spaces, and the entire system can be modularized to accomplish various tasks. Our results demonstrate the potential of origami-inspired designs to achieve more efficient and reliable robotic systems, thus opening up new avenues for the development of robotic systems for various applications.

中文翻译：

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由折纸变形片形成的自锁气动执行器。

由于平板具有展现复杂形状变换的特殊多功能性，折纸艺术在建筑、航空航天工业和软机器人等各个领域获得了广泛的关注。尽管折纸机器人前景广阔，但由于缺乏刚性，它们在高容量环境中的使用受到了限制。本文介绍了受折纸启发的新型自锁气动模块化执行器 (SPMA)，使其能够在此类环境中运行。我们的创新方法基于折纸图案，允许各种类型的形状变形，包括线性和旋转运动。我们通过将磁铁嵌入复合片材中，显着增强了执行器的刚度，从而促进了它们在实际场景中的应用。此外，嵌入式自调节阀有利于顺序折纸驱动的控制，从而可以简化用于驱动多模块的气动系统。只需一个驱动源和一个电磁阀，这些阀门就能有效控制我们的 SPMA。SPMA可以控制在有限空间内操作的机械臂，并且整个系统可以模块化以完成各种任务。我们的结果证明了折纸启发设计在实现更高效、更可靠的机器人系统方面的潜力，从而为开发各种应用的机器人系统开辟了新途径。