NRI: Small: Integrated modeling and manufacturing framework for soft fluidic robotics

该奖项的研究目标是利用3d打印技术和机器人社区的最新进展：开源工具，以实现快速，现场设计和制造软的，人性化的机器人。这些软体机器人可以根据特定任务的几何形状定制，通过从物体几何形状创建3D模具，其中可以将嵌入流体的腔室模塑到弹性体中。装置的驱动可以通过对腔室加压来实现，从而在弹性体材料的某些部分产生诱导应变。该研究将使软机器人设计的3D模拟能够通过考虑复杂几何形状和非线性材料特性的有限元方法进行。交付成果包括软体机器人的设计和制造规则目录，用有限元建模模拟流固相互作用的指南，通过硬件进行演示和验证，研究成果的文档记录，工程学生教育，以及与更广泛的教育和研究界分享研究的开源平台的开发。如果成功，这项研究的结果将提供一个机会，创造定制的软机器人，其本质上是低成本和安全的，可以与人类和脆弱的物体互动。这将引领传统机器向新一代通用、多功能软系统的过渡，这些软系统是为规范应用而定制的，在这些应用中，与人类和环境的安全交互至关重要。示例应用包括可为患者进行物理康复定制的软机器人支架，以及可为制造装配线上的特定对象定制的软机器人夹具。为了传播，将开发一个开源平台，该平台将包括3D CAD模型、仿真文件、制造说明，这些都可以用于其他应用程序。这些信息将使高中生、本科设计团队以及学术和工业研究人员能够创建自己的软机器人。

The research objective of this award is to leverage recent advances in 3D-printing technology and in the robotics communities: open-source tools to enable rapid, on-site design and manufacture of soft, human-friendly robots. These soft robots can be customized to the geometry of a particular task by creating 3D molds from the object geometry where embedded chambers for fluid can be molded into the elastomer. Actuation of the devices can be achieved by pressurizing the chambers, leading to induced strain in certain parts of the elastomeric material. The research will enable 3D simulations of soft robot designs to be performed via a finite element approach that takes into account the complex geometry and non-linear material properties. Deliverables include a catalog of design and fabrication rules for soft robots, guidelines for simulating fluid-structure interaction with finite element modeling, demonstration and validation via hardware, documentation of research results, engineering student education, and the development of an open-source platform for sharing the research with the broader educational and research communities. If successful, the results of this research will provide an opportunity to create custom soft robots that are inherently low-cost and safe for interacting with humans and fragile objects. This will lead the way for a transition from conventional machines to a new generation of versatile, multifunctional soft systems customized for specification applications where safe interaction with humans and the environment is critical. Example applications include soft robotic braces that can be customized for patients for physical rehabilitation and soft robotic grippers for that can be customized to particular objects on manufacturing assembly lines. For dissemination, an open-source platform will be developed that will consist of 3D CAD models, simulation files, fabrication instructions that can all be adapted for other applications. This information will enable high-school students, undergraduate design teams, and academic and industrial researchers to create their own soft robots.