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，现场设计和制造柔软，人性化的机器人。这些软机器人可以通过从物体几何形状创建3D模具来定制特定任务的几何形状，其中用于流体的嵌入式腔室可以模制到弹性体中。装置的致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中引起应变。该研究将使软机器人设计的3D模拟能够通过有限元方法进行，该方法考虑了复杂的几何形状和非线性材料特性。这些内容包括软机器人的设计和制造规则目录，通过有限元建模模拟流体-结构相互作用的指南，通过硬件进行演示和验证，研究结果文档，工程学生教育以及开发一个开源平台，用于与更广泛的教育和研究社区共享研究。 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，本质上是低成本和安全的互动与人类和脆弱的物体。这将引领从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。示例应用包括可以为患者定制用于身体康复的软机器人支架和可以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，将开发一个开放源代码平台，该平台将包括3D CAD模型、模拟文件、制造说明，所有这些都可以适用于其他应用。这些信息将使高中生，本科生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.