A transforming flexahedron origami inspired gripper actuated by shape memory alloy

The transforming flexahedron origami (TFO) is a unique origami that combines the functions of fingers and palm, with a symmetrical distribution of four-finger structures and good shape adaptability. In this paper, inspired by the TFO configuration, a new type of reconfigurable gripper is designed. The kinematics and mechanics of the gripper are analyzed theoretically, and paper folding is used as the skeleton, thin film as the skin, shape memory alloy spring as the actuator, and active cooling is used to enhance the actuator efficiency. Different kinds of objects are used to test the gripping performance of the gripper, including shape adaptive ability and gripping robustness test, and the test results show that the gripper is with good gripping performance. The reconfigurable capability of the TFO configuration allows the hand gripper to have two gripping modes, adapting to the adaptive gripping of thin rod-like objects and curved objects, which is difficult to achieve with a single gripping mode. The TFO gripper provides a new way of thinking for the design of flexible and origami grippers in the future.