Fully 3D-Printed Hydrogel Actuator for Jellyfish Soft Robots
Fully 3D-Printed Hydrogel Actuator for Jellyfish Soft Robots
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DOI：
10.1149/2162-8777/abea5f
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发表时间：
2021-03
影响因子：
2.2
通讯作者：
Yuki Takishima;Kazunari Yoshida;A. Khosla;M. Kawakami;H. Furukawa
中科院分区：
文献类型：
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作者：
Yuki Takishima;Kazunari Yoshida;A. Khosla;M. Kawakami;H. Furukawa
近年来，为了满足劳动力短缺、在危险环境中工作、灾害管理、医疗保健和海洋学的需求，对开发模仿自然环境中的植物群和动物群的软机器人的兴趣一直在增长。由弹性体和水凝胶等软材料制成的致动器是软机器人的组成部分。虽然3D打印是一种制造原型的多功能技术，但众所周知，软材料的3D打印具有挑战性。在这项工作中，我们提出了3D打印的水凝胶软致动器，模仿水母的制造和表征。所研制的致动器由三部分组成：（1）连接器：致动器主体与空气压力进气管之间的连接部分;（2）盒体：类似于气球的充气部分;（3）底座：与盒体连接。结果表明，3D打印驱动器的归一化收缩比接近月亮水母的值，适用于仿鱼机器人。此外，观察到，所施加的空气压力和注射体积之间的关系是线性的，没有球囊缺陷。
Recently, interest to develop soft robots that mimic flora and fauna in the natural environment has been growing in order to meet the demand for shortage in labor, working in hazardous environments, disaster management, health care and oceanography. Actuators that are made from soft materials, such as elastomers and hydrogels, are integral components of soft robots. Although, 3D printing is a versatile technique to fabricate prototypes, it is a well-known fact that 3D printing for soft materials is challenging. In this work, we present the fabrication and characterization of 3D-printed hydrogel soft actuator that mimics a jellyfish. The developed actuators consist of three parts;(1) Connector: which is the joint part between the main body of actuator and the inlet tube for air pressure,(2) Box: which is balloon-like inflation part and;(3) Base: which is connected to the Box. The results indicate that the normalized contraction ratio of the 3D-printed actuator is close value to that of moon jellyfish and is applicable to a jellyfish-mimic robot. Furthermore, it is observed that, the relationship between applied air pressure and injected volume is linear without balloon defects.