Bubble casting soft robotics
Bubble casting soft robotics
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DOI：
10.1038/s41586-021-04029-6
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发表时间：
2021-11-11
期刊：
影响因子：
64.8
通讯作者：
Brun, P-T
中科院分区：
文献类型：
--
作者：
Jones, Trevor J.;Jambon-Puillet, Etienne;Brun, P-T
受生物体的启发，软机器人由固有的顺应性材料开发，能够模仿动物和植物运动的连续运动（1）。在软机器人中，典型的铰链和螺栓被组装到致动器中的弹性体所取代，致动器被编程为在施加刺激（例如气动充气）后改变形状（2-5）。变形信息通常直接嵌入这些致动器的形状中，其组装通过快速原型技术的最新进展而变得容易（6-11）。然而，这些制造工艺在可扩展性、设计灵活性和鲁棒性方面具有限制。在这里，我们展示了一个新的所有功能于一身的方法，制造和编程的软机器。我们的方法不是依赖于单个部件的组装，而是利用弹性体中的界面流动，这些弹性体逐渐固化以稳健地生产整体式气动致动器，其形状可以很容易地定制以适应从人工肌肉到夹具的应用。我们合理化的流体力学在发挥我们的致动器的组装和建模其随后的变形。我们利用这种定量知识来编程这些软机器并产生复杂的功能，例如从单调刺激中获得的顺序运动。我们预计，我们的方法的灵活性，鲁棒性和预测性将通过实现复杂致动器的组装来加速软机器人的扩散，例如长，曲折或血管结构，从而为源自几何和材料非线性的新功能铺平道路。一体化这里报道的一种用于制造软机器人的方法使用弹性体中的界面流，该弹性体固化以产生致动器，夹持器
Inspired by living organisms, soft robots are developed from intrinsically compliant materials, enabling continuous motions that mimic animal and vegetal movement(1). In soft robots, the canonical hinges and bolts are replaced by elastomers assembled into actuators programmed to change shape following the application of stimuli, for example pneumatic inflation(2-5). The morphing information is typically directly embedded within the shape of these actuators, whose assembly is facilitated by recent advances in rapid prototyping techniques(6-11). Yet, these manufacturing processes have limitations in scalability, design flexibility and robustness. Here we demonstrate a new all-in-one methodology for the fabrication and the programming of soft machines. Instead of relying on the assembly of individual parts, our approach harnesses interfacial flows in elastomers that progressively cure to robustly produce monolithic pneumatic actuators whose shape can easily be tailored to suit applications ranging from artificial muscles to grippers. We rationalize the fluid mechanics at play in the assembly of our actuators and model their subsequent morphing. We leverage this quantitative knowledge to program these soft machines and produce complex functionalities, for example sequential motion obtained from a monotonic stimulus. We expect that the flexibility, robustness and predictive nature of our methodology will accelerate the proliferation of soft robotics by enabling the assembly of complex actuators, for example long, tortuous or vascular structures, thereby paving the way towards new functionalities stemming from geometric and material nonlinearities.An all-in-one methodology for fabricating soft robotics reported here uses interfacial flows in elastomers that cure to produce actuators that can be tailored to suit applications from artificial muscles to grippers.