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，使软的、人类友好的机器人能够在现场快速设计和制造。这些软机器人可以根据特定任务的几何形状定制，方法是从对象几何形状创建3D模具，其中嵌入的流体腔可以模压到弹性体中。设备的启动可以通过加压腔体来实现，从而在弹性材料的某些部分产生感应应变。这项研究将使软机器人设计的3D模拟能够通过有限元方法执行，该方法考虑了复杂的几何和非线性材料特性。交付成果包括软机器人的设计和制造规则目录、使用有限元建模模拟流体-结构相互作用的指导方针、通过硬件进行的演示和验证、研究结果的文档记录、工程学学生教育，以及为与更广泛的教育和研究社区共享研究而开发的开源平台。如果成功，这项研究的结果将为创造定制的软机器人提供机会，这种机器人天生成本低，与人类和脆弱物体互动是安全的。这将引领从传统机器向新一代多功能、多功能软系统的过渡，这些系统是为规范应用定制的，在这些应用中，与人和环境的安全交互至关重要。例如，应用包括可为患者定制的用于身体康复的软机器人支架，以及可针对制造装配线上的特定对象定制的软机器人夹具。为了传播，将开发一个开放源码平台，其中将包括3D CAD模型、模拟文件、制造说明，这些都可以改编成其他应用程序。这些信息将使高中生、本科生设计团队、学术和工业研究人员能够创造他们自己的软机器人。

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.