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Modular origami joint operator to create bendable motions with multiple radii 125

Figure 5.16
Schematic of segments in the prototype.

Effect of voltage on pressure Fig. 5.19 illustrates the relationship between voltage and
pressure. Since the voltages were manually controlled and not taken at specific intervals,
the experimental data were fitted to a linear model to find the pressure at specific voltages.
In order to find the bending angles at specific voltages, the experimental data of the
bending angle against voltage (Fig. 5.20) were fitted to a linear model for each of the four
segments.

Effect of pressure on bending angle Fig. 5.21 illustrates the bending angles, which were
calculated from the modeled data at specific voltages and the corresponding pressures.
The maximum bending angle, according to the modeled data, was 87.4 degrees.
However, the relationship between voltage, pressure, and bending angle might not be
linear.

5.4.2.1.2 Stability

Effect of loading on pressure A drop can be observed from 0.03 to 0.05 N (Fig. 5.22), after
which the pressure maintained a nearly constant value. Overall, the graph indicates that an
increase in loading resulted in an increase in the negative pressure.

Effect of disturbance force on lateral displacement This experiment was conducted in order to
determine the stability of the prototype when subjected to lateral disturbance forces during
the two phases, namely before and after actuation.