Soluble Polymer Pneumatic Networks and a Single-Pour System for Improved Accessibility and Durability of Soft Robotic Actuators.
Soluble Polymer Pneumatic Networks and a Single-Pour System for Improved Accessibility and Durability of Soft Robotic Actuators.
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可溶性聚合物气动网络和单次浇注系统可提高软机器人执行器的可及性和耐用性。
作者：
Alexander H. Greer;Edward E. King;Elijah H Lee;Aditya N. Sardesai;Yiheng Chen;Safa E Obuz;Yan Graf;Toby Ma;Daniel Y Chow;Tianshi Fu;Josiah Somani;Bram W. Schork;Yeshwin Sankuratri;Troy Barnes;Bryce Broadus;Calvin Costner;Holly M. Golecki
软机器人设备可用于在教室中演示力学、机器人技术和医疗保健设备。软机器人驱动器制造的复杂性限制了其在课堂上的应用。我们提出了一种单模具制造可溶性插入式执行器（SIAs）的方法，以简化现有的执行器制造方法，使用常见的可获取材料。这是通过使用定制模具将成型的可溶性结构嵌入固化聚合物中，然后溶解内部结构，留下一个中空的气动网络来实现的。与类似的致动器相比，SIAs的致动变形相当，同时承受更高的压力，持续时间更长。SIAs制造简单，易于接近，从而产生耐用的执行器。我们提出这种执行器制造方法用于K-12学校，以吸引年轻学生参与这个新兴领域。除了有机硅致动器外，我们还展示了SIAs在生物可降解致动器制造中的应用，在课堂演示的简化模型中，以及在设计用于教授学生陶瓷触觉艺术的手套中的应用。
Soft robotic devices can be used to demonstrate mechanics, robotics, and health care devices in classrooms. The complexity of soft robotic actuator fabrication has limited its classroom use. We propose a single-mold method of fabricating soluble insert actuators (SIAs) to simplify existing actuator fabrication methods using common accessible materials. This was accomplished by embedding molded soluble structures into curing polymer with custom molds and later dissolving the internal structure, leaving behind a hollow pneumatic network. Compared with similar actuators, SIAs actuated with comparable deformations while withstanding higher pressures for longer durations. SIAs have simple and accessible fabrication, resulting in durable actuators. We propose this method of actuator fabrication for use in K-12 schools to engage young students in this emerging field. In addition to silicone actuators, we show application of SIAs in biodegradable actuator fabrication, in a simplified model for classroom demonstration, and use in a glove designed to teach students the tactile art of ceramics.