Multimaterial Embedded 3D Printing of Composite Reinforced Soft Actuators

查看全文 作　　者：Zhenhua [1,2]Wang;Boyu [2,3]Zhang;Qu [1,2]He;Hao [1,2]Chen;Jizhe [2,3]Wang;Yuan [2,3]Yao;Nanjia [2,3]Zhou;Weicheng [1,2]Cui

机构地区：[1]Key Laboratory of Coastal Environment and Resources of Zhejiang Province,School of Engineering,Westlake University,Hangzhou,Zhejiang Province,China;[2]Institute of Advanced Technology,Westlake Institute for Advanced Study,Hangzhou,Zhejiang Province,China;[3]Research Center for Industries of the Future,and Key Laboratory of 3D Micro/Nano Fabrication and Characterization of Zhejiang Province,School of Engineering,Westlake University,Hangzhou,Zhejiang Province,China

出　　处：《Research》索引2023年第4期,共11页

基　　金：The authors are grateful for the financial support for this research by the Zhejiang Provincial Key R&D Program of China(2021C03157);the National Natural Science Foundation of China(No.51905446);Guangdong Provincial Key R&D Program of 2021 Ocean Six Industrial Project(2021-45);Scientific Research Funding Project of Westlake University(2021WUFP017);the Startup funding of New-joined PI of Westlake University(041030150118)。 摘　　要：Soft pneumatic actuators(SPAs)have attracted enormous attention in the growing field of robotics.Among different SPAs,composite reinforced actuators(CRAs)are widely used because of their simple structure and high controllability.However,multistep molding,a time-consuming method,is still the predominant fabrication method.Here,we propose a multimaterial embedded printing method(ME3P)to fabricate CRAs.In comparison with other 3-dimensional printing methods,our method improves fabrication flexibility greatly.Via the design and fabrication of the reinforced composites’patterns and different geometries of the soft body,we demonstrate actuators with programmable responses(elongation,contraction,twisting,bending,and helical and omnidirectional bending).Finite element analysis is employed for the prediction of pneumatic responses and the inverse design of actuators based on specific actuation needs.Lastly,we use tube-crawling robots as a model system to demonstrate our ability to fabricate complex soft robots for practical applications.This work demonstrates the versatility of ME3P for the future manufacturing of CRA-based soft robots. 关键词：COMPOSITES COMPOSITE PRINTING

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Multimaterial Embedded 3D Printing of Composite Reinforced Soft Actuators

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