Design and kinematic analysis of a rigid-origami-based underwater sampler with deploying-encircling motion

Due to the nondestructive characteristic, the non-contact underwater samplers become important equipment in underwater organism research. This paper proposes a novel underwater sampler with one degree-of-freedom (DOF) deploying-encircling motion based on non-Euclidean rigid origami, and its key factor is the encircling surface origami pattern. The sampler can be deployed and encircle the object gradually from the flat and open configuration to the closed configuration forming an approximate prismatic cavity, and capture organisms without damage. Based on the kinematics of two basic non-Euclidean 4-vertices used in the sampler, the rigid foldability and bifurcation behavior of the origami pattern are analyzed. The bifurcated paths are introduced into the motion transmission path analysis, ensuring the validity of the rigid foldability in all cases. After the bifurcation analysis, the inputs of the pattern are determined. Several performance indexes are evaluated to determine the key parameter. Finally, the drive of the sampler is designed, and the prototype of the sampler is presented and tested for capturing performance in an aquarium.