与传统的刚性抓握执行器相比，柔性气动执行器采用软材料构成柔性抓手，可通过对抓握物体的自适应变形，实现柔性抓握，在人机交互性能、安全性方面远高于刚性执行器。但是目前常用的柔性气动执行器普遍只能通过输入压力的大小控制执行器的运动，控制精度较低，使用场景受限。本课题基于折纸骨架结构，设计了一种可以实现精确运动控制的柔性气动执行器；分析并研究了这种柔性气动执行器的结构设计、制备工艺、性能检测。本课题进行了理论分析与仿真建模，分析了折纸结构柔性气动执行器的驱动原理，计算了相关的结构控制参数，设计了一种基于V字折纸结构驱动单元的气动执行器，并通过模块分解，设计搭建了一个用于柔性气动执行器检测与控制的工作平台。根据柔性气动执行器的结构设计和材料选取，本课题通过熔融沉积制造和薄膜热封工艺，完成了折纸结构的制作和封装；通过对封装完成的执行器的测试，对执行器的相关结构设计与工艺流程提出了改进方案。对于优化完成后的气动执行器，进行了驱动力、运动控制、响应速度、灵敏度等的性能参数测量与评估；为了更进一步的实现对于执行器的精确闭环控制，本课题引入了一种柔性可拉伸电阻式传感器，通过测量执行器的运动状况建立了对于执行器的负反馈控制；本课题设计的最终执行器样品自重仅为9g，容积约为8mL，可以在0~70kPa的输入真空压力的作用下，产生最大4N的驱动力；通过适当调整输入真空压力，可以实现0~360°之间的运动控制，执行器的极限响应时间仅为0.198s；通过设定与执行器运动情况相对应的控制电压，可以将执行器的运动状态控制在指定的弯曲角度，并且针对载荷的加入与移除，根据反馈自动做出调整；最后还利用该执行器，设计组装了一种气动四指钩爪系统，确认了这种气动四指钩爪系统可以在抓握重物时针对物体质量的变化做出自适应调整，自动维持系统整体平衡。

Compared with traditional rigid gripping actuators, flexible pneumatic actuators use soft materials to form flexible grip fingers, which can realize flexible grip through adaptive deformation to the contacted object. It shows better performance than rigid actuators in terms of human-computer interaction performance and safety. However, the commonly used flexible pneumatic actuators generally can only control the movement of the actuator through the magnitude of the input pressure with low control accuracy. So their application field is limited. In this thesis, a flexible pneumatic actuator that can realize precise motion control is designed based on the origami skeleton structure, and related analysis and research are carried out on its structure design, preparation process, detection and calibration.This subject first analyzed the driving principle of the flexible pneumatic actuator based on the origami structure through theoretical analysis and simulation modeling, calculated the relevant structural control parameters, and designed a pneumatic actuator based on the V-shaped origami structure driving unit. And through the module Decomposed, we designed and built a working platform for the detection and control of flexible pneumatic actuators.According to the structural design and material selection of the flexible pneumatic actuator, this subject has completed the fabrication and packaging of the origami structure through fused deposition manufacturing and thin-film heat sealing technology. Through the test of the encapsulated actuator, an improvement plan is proposed for the relevant structural design and process flow of the actuator.For the optimized pneumatic actuator, performance parameters such as driving force, motion control, response speed, sensitivity, etc. were measured and evaluated. In order to further realize the precise closed-loop control of the actuator, this subject introduces a flexible stretchable resistive sensor, which establishes the negative feedback control of the actuator by measuring the movement of the actuator. The final actuator itself weighs only 9g and has a volume of about 8mL. It can generate a maximum driving force of 4N under the action of an input vacuum pressure of 0~70kPa. By appropriately adjusting the input vacuum pressure, the motion control between 0 and 360° can be realized, and the limit response time of the actuator is only 0.198s. By setting the control voltage corresponding to the motion of the actuator, the motion state of the actuator can be controlled at a specified bending angle, and automatically adjusted according to feedback for the addition and removal of load. Finally, using the actuator, a pneumatic four-finger claw system was designed and assembled, which can make adaptive adjustments to changes in the mass of the object when grasping a heavy object, and automatically maintain the overall balance of the system.