A Novel Fold-Based Design Approach toward Printable Soft Robotics Using Flexible 3D Printing Materials
A Novel Fold-Based Design Approach toward Printable Soft Robotics Using Flexible 3D Printing Materials
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DOI：
10.1002/admt.201700172
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发表时间：
2018-02-01
影响因子：
6.8
通讯作者：
Yeow, Raye Chen Hua
中科院分区：
文献类型：
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作者：
Ang, Benjamin Wee Keong;Yeow, Raye Chen Hua
众所周知，软机器人技术由于其柔顺和可变形的特性，比刚性机器人技术具有多种优势。它们可以进行精细的物体操纵，并在有限的空间内执行复杂的操作，这是传统机器人技术难以做到的。传统软弹性流体致动器最广泛采用的制造方法是模铸，这种方法很麻烦并且涉及多个手动步骤。因此，这些执行器的性能和质量的显着变化直接源于制造过程。本文介绍了一种基于折叠的新型 3D 打印软气动弯曲执行器设计。与依赖高端多材料 3D 打印机的其他作品相比，消费级开源 3D 打印机已采用熔融沉积建模技术，以快速且廉价的方式制造软气动执行器。这使得执行器的质量及其机械性能保持一致。介绍了以下方面的主要发现：(1) 3D 打印的基于折叠的致动器制造工艺；(2) 致动器表征；以及 (3) 针对不同应用的不同弯曲轮廓的以设计为中心的方法。
Soft robotic technologies have been known to have various advantages over their rigid counterparts due to their compliant and deformable properties. They can carry out delicate object manipulation and perform complex maneuvers in confined spaces, which traditional robotics has difficulty with. The most widely adopted fabrication method for traditional soft elastomeric fluidic actuators is mold-casting, which is cumbersome and involves several manual steps. Therefore, a substantial variability in performance and quality of these actuators arises directly from the manufacturing process. This paper presents on a novel fold-based design of a 3D-printed soft pneumatic bending actuator. In contrast to other works that rely on high-end multimaterial 3D printers, a consumer-grade open source 3D printer to fabricate soft pneumatic actuators in a fast and cheap way using fused deposition modeling technology has been adapted. This allows for consistency in both the quality of the actuators and their mechanical performance. The key findings in (1) a 3D-printed fold-based actuator fabrication process, (2) actuator characterization, and (3) a design-centric approach toward different bending profiles for different applications are presented.