Kinematic Modeling of Origami-Based Forcep Designs

In the design of practical grasping tools such as forceps or grippers, it may be desirable to create a compact, lightweight, and easily manufactured tool. Origami inspired designs can help simplify gripper manufacturing to a single planar sheet of material while still allowing for deployment and actuation. Inflatable structures can reduce weight and be compacted. This paper explores the design of an inflatable, deployable, action origami inspired gripper through the development of a predictive model, prototype fabrication, and preliminary design assessments.