This paper introduces a novel approach for designing soft robotic manipulators using origami cylinder modules (OCMs) as building blocks. An OCM is defined as a pneumatically actuated soft robotic unit capable of both linear and bending deformations, contributing to a lightweight and compact robotic system. A rigorous mathematical model was developed to estimate the force and moment outputs of the OCM, with experimental validation confirming the accuracy of the prediction. Multiple OCMs were integrated into a continuum manipulator, and their performance was evaluated by various manipulation tasks. The results demonstrate that the OCM model predicts the behavior of the actuator with a high accuracy in the estimation of force and moment. The origami manipulator also achieves a wide range of motions (ROM) with relatively small errors, showcasing potential for practical applications. These findings introduce a new method for developing soft robotic manipulators made of origami-based air chambers that offer lightweight and compact designs. The mathematical model of the OCM holds implications for simulating actuator behavior in real-world applications, while the performance of the origami manipulator shows the potential for practical implementation. This study provides valuable insights into the advancement of robotic manipulators based on origami structures, allowing a useful set of tools in the field of robotics.
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