Name: fabrication of soft pneumatic network actuators with oblique chambers
Uploaded: 2018-08-17T14:30:00.000+00:00
Duration: 7 min 9 s
Description: Watch this Scientific Journal Video about Fabrication of Soft Pneumatic Network Actuators with Oblique Chambers at JoVE.com

这项工作得到了中国国家自然科学基金授予51622506和上海市科技委员会授予16JC1401000 的支持。

注: 该协议提供了软气动网络执行器的制作程序。在制作过程之前, 一组模具和几个执行器-油管连接器, 这是设计的计算机辅助设计 (CAD) 软件必须提前3维打印。模具见图 1B。
1. 硅胶弹性体的制备
<ol><li>在同一混合容器 (图 2A) 中, 将5克的硅胶弹性体 B 和 45 g 部分 A (9:1 (A: B) 零件按重量) 称量。使用注射器确保每部分的比例是准确的。 注: 不同的硅胶弹性体的混合比例各不相同。当采用另一种硅胶弹性体时, 应调整各部分的比例。</li>
	<li>将硅胶弹性体与行星式离心搅拌机混合均匀。 注: 硅胶弹性体可以储存在低温下, 以延长其加工时间。</li>
</ol>2. 室零件制造
<ol><li>将硅弹性体产品的脱模剂均匀喷涂在模具的表面 A 部和 B 部。</li>
	<li>装配模具的 a 部和 B 部以制作一个腔室。用夹子夹住模具两端, 防止硅胶弹性体泄漏。</li>
	<li>用注射器将5毫升的硅胶弹性体注入, 慢慢插入模具的孔中, 以制造连接端 (用于连接油管的执行器一端的圆柱结构)。然后, 用硅胶弹性体填充整个模具 (图 2B)。 注意: 保持低流速和来回移动缓慢, 让硅胶弹性体进入模具的微小结构。</li>
	<li>刺穿表面上与针尖形成的气泡, 直到没有可见的气泡 (图 2C)。</li>
	<li>用刀片在模具的上表面刮掉多余的硅弹性体。</li>
	<li>将模具放在烤箱中70摄氏度, 直到硅胶弹性体固化。</li>
	<li>使用注射器将硅胶弹性体注入到出现在执行器表面的气泡和孔中。</li>
	<li>在表面上刮掉多余的硅胶弹性体。</li>
	<li>将模具放在烤箱中70摄氏度, 直到硅胶弹性体固化。</li>
</ol>3. 基础零件制造
<ol><li>在模具的表面均匀喷涂硅弹性体产品的脱模剂。</li>
	<li>将硅胶弹性体倒入模具的 C 部。</li>
	<li>刺穿表面上与针尖形成的气泡, 直到没有更多的气泡可见。</li>
	<li>用刀片在模具的上表面刮掉多余的硅弹性体。</li>
	<li>将模具放在烤箱中70摄氏度, 直到硅胶弹性体固化。</li>
</ol>4. 执行器总成
<ol><li>均匀倒一层硅胶弹性体, 厚度1毫米, 在一面的基部。</li>
	<li>将会议厅部分放置在底座上。使用注射器将硅胶弹性体注入腔室部分和底座之间的空间 (图 2D)。</li>
	<li>将驱动器放入烤箱中70摄氏度, 直到硅胶弹性体固化。</li>
</ol>5. 油管连接
<ol><li>点击3维打印执行器-油管连接器, 接受男性螺柱推入适合气动配件螺丝。</li>
	<li>使用针刺穿传动器的连接端沿着气缸的中线。用钢杆增加孔直径约2毫米。</li>
	<li>将执行器-油管接头拧入驱动器 (图 2E)。</li>
	<li>将一节油管推入雄螺柱推入配合气动装置。</li>
</ol>6. 泄漏检查和维修
<ol><li>将执行器连接到空气源。</li>
	<li>将整个执行器放在水中, 并对执行器施加压力 (图 2F)。观察气泡是否因泄漏而形成。</li>
	<li>用注射器将硅胶弹性体注入泄漏点。将驱动器放入烤箱中70摄氏度, 直到硅胶弹性体固化。</li>
	<li>如果需要, 重复步骤 6.1-6.3。</li>
</ol>

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作者没有什么可透露的。

本文提出了一种用斜腔法指导软气动网络驱动器制作的方法协议。根据该协议, 一个执行器可以在3小时内独立制造。该议定书的关键步骤可归纳如下。(i) 硅胶弹性体是按比例和混合井配制而成的。(二) 将硅胶弹性体倒入模具中, 用于制造室部零件和底座。(iii) 暴露表面的气泡被刺穿, 暴露表面上的任何多余的硅胶弹性体被刮掉。(iv) 硅胶弹性体在烤箱中固化。(v) 两部分由硅胶弹性体粘合在一起。?...

软气动执行器 (spa) 是软的设备, 可以驱动的简单输入气压1,2。它们可以用不同的材料制造, 如硅胶弹性体3、织物4、形状记忆聚合物5和介电弹性6。研究人员从他们的依从性, 灵巧的动作, 和简单的制造方法7, 使温泉已成为最有希望的设备, 软机器人应用8,9。温泉可以实现各种复杂的运动, 如蠕动10, 旋转11, 和滚动12基于各种类型的变形, 包括扩展, 扩大, 弯曲, 扭曲13,14. 为了能够做出不同类型的运动, 温泉浴场设计在不同的结构中, 例如一个具有平行通道15的线性机构, 一个带有纤维增强16的单室, 以及重复的网络分庭17。其中, 带有重复分室网络的软气动网络执行器, 由于在较低的输入压力下能产生较大的变形, 因而得到了广泛的应用。然而, 在以前的大多数设计中, 这种类型的执行器只能产生2维空间的弯曲运动, 这极大地限制了它们的应用。
软气动网络执行器由一个由内部通道连接的线性排列的腔组组成。每立方室包含一对相对地比另一对更薄的对面墙壁, 并且在垂直于更薄的墙壁的方向产生双面通货膨胀。原来, 更薄的腔壁垂直于执行机构的长轴, 并随着长轴膨胀。这些共线通货膨胀在腔室和不可扩展的基板导致一个整体的纯弯曲的执行器。为了探索3维空间中执行器的运动, 调整腔的方向, 使较薄的侧壁不再垂直于执行器的长轴 (图 1A), 从而使每个腔室的膨胀方向从轴偏移并变为非共线。所有平行但非共线通货膨胀将执行器的运动改变为3维空间18的耦合弯曲和扭转运动。这种耦合的运动使执行器更灵活和灵巧, 使执行器一个合适的候选更实际的应用, 如灵活的机械手, 生物启发的机器人, 和医疗设备。
该协议说明了该类软气动网络驱动器的制造方法。它包括准备硅胶弹性体, 制造室和基部, 组装执行器, 连接油管, 检查泄漏, 并在必要时, 修复执行器。它还可用于制造正常的软气动网络执行器和其他软执行机构, 可以通过对成型方法的一些简单修改来制作。我们提供了详细的步骤, 以制造一个软的气动执行器与30°斜室。对于不同的应用, 不同腔角的执行机构可以根据相同的协议进行制造。此外, 执行机构可以结合起来, 形成一个多执行器系统的各种要求。

<table><tbody><tr><td>Silicone elastomer</td><td>Wacker</td><td>ELASTOSIL M4601 A/B</td><td>Material of the actuators</td></tr><tr><td>Syringe&amp;nbsp;</td><td>Shanghai Kindly Medical Instruments&amp;nbsp;</td><td>10 ml</td><td>Used to inject silicone rubber into the hole of the mold for fabricating the connection end</td></tr><tr><td>Precision scale</td><td>Shanghai Hochoice</td><td>UTP-313</td><td>Used to weigh the silicone rubber</td></tr><tr><td>Planetary centrifugal vacuum mixer</td><td>THINKY</td><td>ARE-310</td><td>Used to mix the silicone rubber and defoam after mixing process</td></tr><tr><td>Release agent</td><td>Smooth-on</td><td>Release 200</td><td>Used for ease of demolding&amp;nbsp;</td></tr><tr><td>Needle</td><td>Shanghai Kindly Medical Instruments&amp;nbsp;</td><td></td><td>Used for Piercing the bubbles form on the surface</td></tr><tr><td>Utility blade</td><td>M&amp;amp;G Chenguang Stationery</td><td>ASS91325</td><td>Used for Scraping off excess silicone rubber along the upper surface of the mold&amp;nbsp;</td></tr><tr><td>Vacuum oven</td><td>Ningbo SI Instrument</td><td>DZF-6050</td><td>Used to reduce the cure time of the silicone rubber</td></tr><tr><td>Male stud push in fit pneumatic fitting</td><td>Zhe Jiang BLCH Pneumatic Science &amp;amp; Technology</td><td>PC4-01</td><td>Used to connect the tubing and the 3D-printed actuator tubing connector</td></tr><tr><td>Tubing</td><td>SMC</td><td>TU0425</td><td>Used for actuating the actuators</td></tr><tr><td>Vacuum pump</td><td>Zhe Jiang BLCH Pneumatic Science &amp;amp; Technology</td><td></td><td>Used as the air source</td></tr><tr><td>Pressure valve</td><td>Zhe Jiang BLCH Pneumatic Science &amp;amp; Technology</td><td>IR1000-01BG</td><td>Used for adjusting the input air pressure</td></tr></tbody></table>

fabrication of soft pneumatic network actuators with oblique chambers

软气动网络驱动器已成为软机器人中最有希望的驱动装置之一, 其主要优点是弯曲变形大, 输入低。然而, 它们在二维 (2 维) 空间中单调的弯曲运动形式使它们远离广泛的应用。本文给出了斜腔软气动网络驱动器的详细制作方法, 探讨了其在三维 (3) 空间中的运动。斜腔的设计使驱动器具有可调谐的耦合弯曲和扭转能力, 使他们有可能在灵活的机械手中移动巧妙, 成为生物启发的机器人和医疗设备。制造过程是基于成型方法, 包括硅胶弹性体的准备, 室和基础零件的制造, 执行器装配, 油管连接, 检查泄漏, 和执行器维修。该制造方法保证了在模具中只进行少量修改的一系列驱动器的快速制造。试验结果表明, 该传动机构质量优良, 弯曲、扭转能力显著。该夹具的实验表明, 在适应不同直径的物体和提供足够的摩擦力方面发展的优势。

单驱动器: 为了验证制造方法, 证明了执行器的功能, 并对其进行了测试。对于实验装置, 采用空气泵来激活阀门。阀门连接到执行器以控制内部压力。单执行器固定在其连接端, 垂直放置。当执行器被加压时, 两个数码相机被用来从不同的角度捕捉它的位置。分析位置 (图 3A), 明确了执行机构的运动可以用两个参数来描述: ?...

Watch this Scientific Journal Video about Fabrication of Soft Pneumatic Network Actuators with Oblique Chambers at JoVE.com

Fabrication of Soft Pneumatic Network Actuators with Oblique Chambers

本文介绍了一种带斜腔的软气动网络驱动器的制作方法。该驱动器能够产生耦合弯曲和扭转运动, 从而拓宽了它们在软机器人中的应用。

斜腔软气动网络驱动器的研制

Soft pneumatic network actuators have become one of the most promising actuation devices in soft robotics which benefits from their large bending ...

fabrication-of-soft-pneumatic-network-actuators-with-oblique-chambers

Research

JoVE Journal

Engineering

9.0K 次观看.  Shanghai Jiao Tong University. 本文介绍了一种带斜腔的软气动网络驱动器的制作方法。该驱动器能够产生耦合弯曲和扭转运动, 从而拓宽了它们在软机器人中的应用。

视频: Fabrication of Soft Pneumatic Network Actuators with Oblique Chambers

Fabrication of Low Temperature Carbon Nanotube Vertical Interconnects Compatible with Semiconductor Technology

We demonstrate a method for the low temperature growth (350 &#176;C) of vertically-aligned carbon nanotubes (CNT) bundles on electrically conductive thin-films. Due to the low growth temperature, the process allows integration with modern low-&#954; dielectrics and some flexible substrates. The process is compatible with standard semiconductor fabrication, and a method for the fabrication of electrical 4-point probe test structures for vertical interconnect test structures is presented. Using scanning electron microscopy the morphology of the CNT bundles is investigated, which demonstrates vertical alignment of the CNT and can be used to tune the CNT growth time. With Raman spectroscopy the crystallinity of the CNT is investigated. It was found that the CNT have many defects, due to the low growth temperature. The electrical current-voltage measurements of the test vertical interconnects displays a linear response, indicating good ohmic contact was achieved between the CNT bundle and the top and bottom metal electrodes. The obtained resistivities of the CNT bundle are among the average values in the literature, while a record-low CNT growth temperature was used.

A method for the growth of low temperature vertically-aligned carbon nanotubes, and the subsequent fabrication of vertical interconnect electrical test structures using semiconductor fabrication is presented.

低温碳纳米管垂直互连的制作兼容半导体技术

We demonstrate a method for the low temperature growth (350 &#176;C) of vertically-aligned carbon nanotubes (CNT) bundles on electrically conductive ...

科研

工程学

Fabrication Process of Silicone-based Dielectric Elastomer Actuators

This contribution demonstrates the fabrication process of dielectric elastomer transducers (DETs). DETs are stretchable capacitors consisting of an elastomeric dielectric membrane sandwiched between two compliant electrodes. The large actuation strains of these transducers when used as actuators (over 300% area strain) and their soft and compliant nature has been exploited for a wide range of applications, including electrically tunable optics, haptic feedback devices, wave-energy harvesting, deformable cell-culture devices, compliant grippers, and propulsion of a bio-inspired fish-like airship. In most cases, DETs are made with a commercial proprietary acrylic elastomer and with hand-applied electrodes of carbon powder or carbon grease. This combination leads to non-reproducible and slow actuators exhibiting viscoelastic creep and a short lifetime. We present here a complete process flow for the reproducible fabrication of DETs based on thin elastomeric silicone films, including casting of thin silicone membranes, membrane release and prestretching, patterning of robust compliant electrodes, assembly and testing. The membranes are cast on flexible polyethylene terephthalate (PET) substrates coated with a water-soluble sacrificial layer for ease of release. The electrodes consist of carbon black particles dispersed into a silicone matrix and patterned using a stamping technique, which leads to precisely-defined compliant electrodes that present a high adhesion to the dielectric membrane on which they are applied.

This manuscript shows the fabrication process for the manufacture of dielectric elastomer soft actuators based on silicone membranes. The three key stages of production are presented in detail: blade casting of thin silicone membranes; pad printing of compliant electrodes; and the assembly of all the components.

有机硅为基础的介电弹性体致动器的制作工艺

This contribution demonstrates the fabrication process of dielectric elastomer transducers (DETs). DETs are stretchable capacitors consisting of an ...

Indirect Fabrication of Lattice Metals with Thin Sections Using Centrifugal Casting

One of the typical methods to manufacture 3D lattice metals is the direct-metal additive manufacturing (AM) process such as Selective Laser Melting (SLM) and Electron Beam Melting (EBM). In spite of its potential processing capability, the direct AM method has several disadvantages such as high cost, poor surface finish of final products, limitation in material selection, high thermal stress, and anisotropic properties of parts. We propose a cost-effective method to manufacture 3D lattice metals. The objective of this study is to provide a detailed protocol on fabrication of 3D lattice metals having a complex shape and a thin wall thickness; e.g., octet truss made of Al and Cu alloys having a unit cell length of 5 mm and a cell wall thickness of 0.5 mm. An overall experimental procedure is divided into eight sections: (a) 3D printing of sacrificial patterns (b) melt-out of support materials (c) removal of residue of support materials (d) pattern assembly (e) investment (f) burn-out of sacrificial patterns (g) centrifugal casting (h) post-processing for final products. The suggested indirect AM technique provides the potential to manufacture ultra-lightweight lattice metals; e.g., lattice structures with Al alloys. It appears that the process parameters should be properly controlled depending on materials and lattice geometry, observing the final products of octet truss metals by the indirect AM technique.

An indirect additive manufacturing method combining a 3D printing of polymers with a centrifugal casting is outlined for manufacturing 3D octet truss metals (Al and Cu alloys) having a unit cell length of 5 mm with a wall thickness of 0.5 mm.

与超薄切片格金属制造间接使用离心铸造

One of the typical methods to manufacture 3D lattice metals is the direct-metal additive manufacturing (AM) process such as Selective Laser Melting (SLM) ...

A Fabrication Method for Highly Stretchable Conductors with Silver Nanowires

Stretchable electronics are identified as a key technology for electronic applications in the next generation. One of the challenges in fabrication of stretchable electronic devices is the preparation of stretchable conductors with great mechanical stability. In this study, we developed a simple fabrication method to chemically solder the contact points between silver nanowire (AgNW) networks. AgNW nanomesh was first deposited on a glass slide via spray coating method. A reactive ink composed of silver nanoparticle (AgNPs) precursors was applied over the spray coated AgNW thin films. After heating for 40 min, AgNPs were preferentially generated over the nanowire junctions to solder the AgNW nanomesh, and reinforced the conducting network. The chemically modified AgNW thin film was then transferred to polyurethane (PU) substrates by casting method. The soldered AgNW thin films on PU exhibited no obvious change in electrical conductivity under stretching or rolling process with elongation strains up to 120%.

A simple synthesis method is used to chemically solder silver nanowire thin film to fabricate highly stretchable and conductive metal conductors.

对于高伸缩的导线与银纳米线制作方法

Stretchable electronics are identified as a key technology for electronic applications in the next generation. One of the challenges in fabrication of ...

Free-form Light Actuators &#8212; Fabrication and Control of Actuation in Microscopic Scale

Liquid crystalline elastomers (LCEs) are smart materials capable of reversible shape-change in response to external stimuli, and have attracted researchers&#39; attention in many fields. Most of the studies focused on macroscopic LCE structures (films, fibers) and their miniaturization is still in its infancy. Recently developed lithography techniques, e.g., mask exposure and replica molding, only allow for creating 2D structures on LCE thin films. Direct laser writing (DLW) opens access to truly 3D fabrication in the microscopic scale. However, controlling the actuation topology and dynamics at the same length scale remains a challenge.
In this paper we report on a method to control the liquid crystal (LC) molecular alignment in the LCE microstructures of arbitrary three-dimensional shape. This was made possible by a combination of direct laser writing for both the LCE structures as well as for micrograting patterns inducing local LC alignment. Several types of grating patterns were used to introduce different LC alignments, which can be subsequently patterned into the LCE structures. This protocol allows one to obtain LCE microstructures with engineered alignments able to perform multiple opto-mechanical actuation, thus being capable of multiple functionalities. Applications can be foreseen in the fields of tunable photonics, micro-robotics, lab-on-chip technology and others.

Here, we fabricate 3D polymeric micro/nano structures in which both the shape and the molecular alignment can be engineered with nanometer scale accuracy by the use of direct laser writing. Light induced deformation of several types of liquid crystalline elastomer microstructures can be controlled in the microscopic scale.

自由形式的光驱动器 - 制作和开动控制在微观尺度

Liquid crystalline elastomers (LCEs) are smart materials capable of reversible shape-change in response to external stimuli, and have attracted ...

Design and Fabrication of an Elastomeric Unit for Soft Modular Robots in Minimally Invasive Surgery

In recent years, soft robotics technologies have aroused increasing interest in the medical field due to their intrinsically safe interaction in unstructured environments. At the same time, new procedures and techniques have been developed to reduce the invasiveness of surgical operations. Minimally Invasive Surgery (MIS) has been successfully employed for abdominal interventions, however standard MIS procedures are mainly based on rigid or semi-rigid tools that limit the dexterity of the clinician. This paper presents a soft and high dexterous manipulator for MIS. The manipulator was inspired by the biological capabilities of the octopus arm, and is designed with a modular approach. Each module presents the same functional characteristics, thus achieving high dexterity and versatility when more modules are integrated. The paper details the design, fabrication process and the materials necessary for the development of a single unit, which is fabricated by casting silicone inside specific molds. The result consists in an elastomeric cylinder including three flexible pneumatic actuators that enable elongation and omni-directional bending of the unit. An external braided sheath improves the motion of the module. In the center of each module a granular jamming-based mechanism varies the stiffness of the structure during the tasks. Tests demonstrate that the module is able to bend up to 120&#176; and to elongate up to 66% of the initial length. The module generates a maximum force of 47 N, and its stiffness can increase up to 36%.

This paper describes the design and fabrication of a soft unit for surgical manipulators. The base module includes three flexible fluidic actuators to achieve omnidirectional bending and elongation, and a granular jamming-based mechanism to enable stiffness control. A complete mechanical characterization is also reported.

设计和弹性股软模块化机器人微创手术制造

In recent years, soft robotics technologies have aroused increasing interest in the medical field due to their intrinsically safe interaction in ...

生物工程

Rapid Manufacturing of Thin Soft Pneumatic Actuators and Robots

This protocol describes a method for rapid manufacturing of soft pneumatic actuators and robots with an ultrathin form factor using a heat press and a laser cutter machine. The method starts with the lamination of thermoplastic polyurethane (TPU) sheets using a heat press for 10 min at the temperature of ~93 &#176;C. Next, the parameters of the laser cutter machine are optimized to produce a rectangular balloon with maximum burst pressure. Using the optimized parameters, the soft actuators are laser cut/welded three times sequentially. Next, a dispensing needle is attached to the actuator, allowing it to be inflated. The effect of geometrical parameters on the deflection of the actuator are studied systematically by varying the channel width and length. Finally, the performance of the actuator is characterized using an optical camera and a fluid dispenser. Conventional fabrication methods of soft pneumatic actuators based on silicone molding are time consuming (several hours). They also result in strong but bulky actuators, which limits the actuator&#8217;s applications. Moreover, microfabrication of thin pneumatic actuators is both time-consuming and expensive. The proposed manufacturing method in the current work resolves these issues by introducing a fast, simple, and cost-effective fabrication method of ultrathin pneumatic actuators.

This protocol describes a method for rapid manufacturing of soft pneumatic actuators and robots with a thin form factor. The fabrication method starts with lamination of thermoplastic polyurethane (TPU) sheets followed by laser cutting/welding of a two-dimensional pattern to form actuators and robots.

快速制造薄软气动执行器和机器人

This protocol describes a method for rapid manufacturing of soft pneumatic actuators and robots with an ultrathin form factor using a heat press and a ...

Rod-based Fabrication of Customizable Soft Robotic Pneumatic Gripper Devices for Delicate Tissue Manipulation

Soft compliant gripping is essential in delicate surgical manipulation for minimizing the risk of tissue grip damage caused by high stress concentrations at the point of contact. It can be achieved by complementing traditional rigid grippers with soft robotic pneumatic gripper devices. This manuscript describes a rod-based approach that combined both 3D-printing and a modified soft lithography technique to fabricate the soft pneumatic gripper. In brief, the pneumatic featureless mold with chamber component is 3D-printed and the rods were used to create the pneumatic channels that connect to the chamber. This protocol eliminates the risk of channels occluding during the sealing process and the need for external air source or related control circuit. The soft gripper consists of a chamber filled with air, and one or more gripper arms with a pneumatic channel in each arm connected to the chamber. The pneumatic channel is positioned close to the outer wall to create different stiffness in the gripper arm. Upon compression of the chamber which generates pressure on the pneumatic channel, the gripper arm will bend inward to form a close grip posture because the outer wall area is more compliant. The soft gripper can be inserted into a 3D-printed handling tool with two different control modes for chamber compression: manual gripper mode with a movable piston, and robotic gripper mode with a linear actuator. The double-arm gripper with two actuatable arms was able to pick up objects of sizes up to 2 mm and yet generate lower compressive forces as compared to elastomer-coated and non-coated rigid grippers. The feasibility of having other designs, such as single-arm or hook gripper, was also demonstrated, which further highlighted the customizability of the soft gripper device, and it's potential to be used in delicate surgical manipulation to reduce the risk of tissue grip damage.

This protocol describes a rod-based approach, combining 3D-printing and soft lithography techniques for fabricating the soft gripper devices. This approach eliminates the need for an external air source by incorporating a chamber component and reduces the chance of occlusion during the sealing process, particularly for miniaturized pneumatic channels.

娇嫩的组织操纵定制的软机器人气动设备手爪基于杆制造

Soft compliant gripping is essential in delicate surgical manipulation for minimizing the risk of tissue grip damage caused by high stress concentrations ...

Fabrication of Carbon-Based Ionic Electromechanically Active Soft Actuators

Ionic electromechanically active capacitive laminates are a type of smart material that move in response to electrical stimulation. Due to the soft, compliant and biomimetic nature of this deformation, actuators made of the laminate have received increasing interest in soft robotics and (bio)medical applications. However, methods to easily fabricate the active material in large (even industrial) quantities and with a high batch-to-batch and within-batch repeatability are needed to transfer the knowledge from laboratory to industry. This protocol describes a simple, industrially scalable and reproducible method for the fabrication of ionic carbon-based electromechanically active capacitive laminates and the preparation of actuators made thereof. The inclusion of a passive and chemically inert (insoluble) middle layer (e.g., a textile-reinforced polymer network or microporous Teflon) distinguishes the method from others. The protocol is divided into five steps: membrane preparation, electrode preparation, current collector attachment, cutting and shaping, and actuation. Following the protocol results in an active material that can, for example, compliantly grasp and hold a randomly shaped object as demonstrated in the article.

This article describes a fast and simple manufacturing process of ionic electromechanically active composite materials for actuators in biomedical, biomimetic and soft robotics applications. The key fabrication steps, their importance for the actuators&#39; final properties, and some of the main characterization techniques are described in detail.

碳基离子机电活性软执行器的制造

Ionic electromechanically active capacitive laminates are a type of smart material that move in response to electrical stimulation. Due to the soft, ...

Manufacturing, Control, and Performance Evaluation of a Gecko-Inspired Soft Robot

This protocol presents a method for manufacturing, control, and evaluation of the performance of a soft robot that can climb inclined flat surfaces with slopes of up to 84&#176;. The manufacturing method is valid for the fast pneunet bending actuators in general and might, therefore, be interesting for newcomers to the field of actuator manufacturing. The control of the robot is achieved by means of a pneumatic control box that can provide arbitrary pressures and can be built by only using purchased components, a laser cutter, and a soldering iron. For the walking performance of the robot, the pressure-angle calibration plays a crucial role. Therefore, a semi-automated method for the pressure-angle calibration is presented. At high inclines (&#62; 70&#176;), the robot can no longer reliably fix itself to the walking plane. Therefore, the gait pattern is modified to ensure that the feet can be fixed on the walking plane.

This protocol provides a detailed list of steps to be performed for the manufacturing, control and evaluation of the climbing performance of a gecko-inspired soft robot.

壁虎灵感软机器人的制造、控制和性能评估

This protocol presents a method for manufacturing, control, and evaluation of the performance of a soft robot that can climb inclined flat surfaces with ...