3D Knitting for Pneumatic Soft Robotics
3D Knitting for Pneumatic Soft Robotics
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DOI：
10.1002/adfm.202212541
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发表时间：
2023-04
影响因子：
19
通讯作者：
Vanessa Sanchez;K. Mahadevan;Gabrielle Ohlson;M. Graule;Michelle C. Yuen;Clark B. Teeple;James C. Weaver;J. McCann;K. Bertoldi;Robert J. Wood
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作者：
Vanessa Sanchez;K. Mahadevan;Gabrielle Ohlson;M. Graule;Michelle C. Yuen;Clark B. Teeple;James C. Weaver;J. McCann;K. Bertoldi;Robert J. Wood
软体机器人由于其固有的柔顺性能够被动地适应复杂环境，这使它们能够安全地与易碎或不规则物体相互作用，并穿越崎岖地形。纺织品具有极大的可调节性且无处不在，这为软体机器人带来了新的能力，特别是在可穿戴机器人领域，但是现有的纺织品加工技术（例如裁剪缝合、热粘合）在快速、增材、易获取以及无废料制造方面存在局限性。虽然3D针织有潜力解决这些局限，但对结构和材料对针织尺度的机械性能以及宏观尺度的设备性能的影响了解不全面，这阻碍了针织机器人的广泛应用。在这项工作中，针织结构和纱线材料特性在跨越三个区域（展开、几何重排和纱线拉伸）的纺织力学中的作用得到了阐明，并表明在独特的针织结构和纱线材料中是可定制的。基于这种理解，构建了用于伸展、收缩和弯曲的3D针织软体驱动器。将这些驱动基元组合起来，能够在适合多种应用的一步增材制造过程中整体制造出完整的软体夹具和机器人。这种方法代表了按需无缝“打印” conformal（贴合的、保形的）、低成本、可定制的基于纺织品的软体机器人的第一步。
Soft robots adapt passively to complex environments due to their inherent compliance, allowing them to interact safely with fragile or irregular objects and traverse uneven terrain. The vast tunability and ubiquity of textiles has enabled new soft robotic capabilities, especially in the field of wearable robots, but existing textile processing techniques (e.g., cut‐and‐sew, thermal bonding) are limited in terms of rapid, additive, accessible, and waste‐free manufacturing. While 3D knitting has the potential to address these limitations, an incomplete understanding of the impact of structure and material on knit‐scale mechanical properties and macro‐scale device performance has precluded the widespread adoption of knitted robots. In this work, the roles of knit structure and yarn material properties on textile mechanics spanning three regimes–unfolding, geometric rearrangement, and yarn stretching–are elucidated and shown to be tailorable across unique knit architectures and yarn materials. Based on this understanding, 3D knit soft actuators for extension, contraction, and bending are constructed. Combining these actuation primitives enables the monolithic fabrication of entire soft grippers and robots in a single‐step additive manufacturing procedure suitable for a variety of applications. This approach represents a first step in seamlessly “printing” conformal, low‐cost, customizable textile‐based soft robots on‐demand.