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

Este trabalho foi apoiado pela nacional Fundação ciência Natural da China sob Grant 51622506 e a ciência e tecnologia Comissão de Xangai município Grant 16JC1401000.

Nota: O protocolo fornece os procedimentos de fabricação de um atuador de rede pneumática macio. Antes do processo de fabricação, um conjunto de moldes e vários conectores do atuador-tubulação, que são projetados com desenho assistido por computador, software (CAD) deve ser 3-D-impresso com antecedência. Os moldes são mostrados na Figura 1B.
1. preparação de elastômero de silicone
<ol><li>Pese 5 g de parte de elastômero de silicone B e 45 g de parte A [9:1 (A:B) partes em peso] no mesmo recipiente de misturando(Figura 2). Use uma seringa para certificar-se de que as proporções de cada parte são precisas. Nota: A relação de mistura varia para elastómeros de silicone diferentes. A proporção de cada parte deve ser ajustada quando outro elastômero de silicone é adotado.</li>
	<li>O elastômero de silicone se mistura com o misturador planetário e centrífugo. Nota: O elastómero de silicone pode ser armazenado a uma temperatura baixa para estender seu tempo de processamento.</li>
</ol>2. a câmara parte de fabricação
<ol><li>Pulverizar o agente de liberação de molde para produtos de elastômero de silicone uniformemente sobre as superfícies do molde parte A e parte B.</li>
	<li>Monte a parte A e parte B do molde para a fabricação de uma câmara. Segure as duas extremidades do molde com clipes para evitar a fuga de elastômero de silicone.</li>
	<li>Tomar 5 mL de elastómero de silicone com uma seringa e injetá-lo lentamente no orifício do molde para fabricar o fim de conexão (a estrutura cilíndrica em uma extremidade do atuador para o tubo de ligação). Em seguida, encha o molde inteiro com o elastómero de silicone (Figura 2B). Nota: Manter uma baixa taxa de fluxo e mover-se lentamente para a frente e para trás, para deixar o elastómero de silicone entrar as estruturas minúsculas do molde.</li>
	<li>Fure as bolhas que se formam na superfície com a ponta de uma agulha, até que não há nenhuma bolha mais visível (Figura 2C).</li>
	<li>Raspar qualquer elastômero de silicone em excesso com uma lâmina ao longo da superfície superior do molde.</li>
	<li>Coloque o molde na estufa a 70 ° C até o elastómero de silicone está curado.</li>
	<li>Use uma seringa para injectar as bolhas e buracos que aparecem na superfície do atuador de elastômero de silicone.</li>
	<li>Raspar qualquer elastômero de silicone em excesso na superfície.</li>
	<li>Coloque o molde na estufa a 70 ° C até o elastómero de silicone está curado.</li>
</ol>3. parte base de fabricação
<ol><li>Pulverize o agente de liberação de molde para produtos de elastômero de silicone uniformemente na superfície da parte de molde C.</li>
	<li>Despeje o elastómero de silicone na parte C do molde.</li>
	<li>Fure as bolhas que se formam na superfície com a ponta de uma agulha, até que não há nenhuma bolha mais visível.</li>
	<li>Raspar qualquer elastômero de silicone em excesso com uma lâmina ao longo da superfície superior do molde.</li>
	<li>Coloque o molde na estufa a 70 ° C até o elastómero de silicone está curado.</li>
</ol>4. atuador conjunto
<ol><li>Despeje uniformemente uma camada de elastômero de silicone, 1 mm de espessura, sobre uma face da peça base.</li>
	<li>Coloque a peça de câmara na parte da base. Use uma seringa para injectar o elastómero de silicone no espaço entre a parte da câmara e a parte de base (Figura 2D).</li>
	<li>Coloque o atuador na estufa a 70 ° C até o elastómero de silicone está curado.</li>
</ol>5. tubulação Conexão
<ol><li>Toque o conector do atuador-tubo 3-D-impresso para aceitar que o parafuso de um macho garanhão empurrar-nos cabe pneumática encaixe.</li>
	<li>Use uma agulha para furar a ponta de conexão do atuador ao longo da linha central do cilindro. Aumente o diâmetro do furo com uma haste de aço, a cerca de 2 mm.</li>
	<li>Aparafuse o conector do atuador-tubo do atuador(Figura 2).</li>
	<li>Empurre uma seção de tubulação no macho garanhão empurrar-nos encaixe pneumático apto.</li>
</ol>6. verificação e reparo de vazamento
<ol><li>Conecte o atuador a uma fonte de ar.</li>
	<li>Coloque o atuador todo na água e pressurizar o atuador (Figura 2-F). Observe se as bolhas formam-se devido a um vazamento.</li>
	<li>Use uma seringa para injetar o elastômero de silicone em pontos de fuga. Coloque o atuador na estufa a 70 ° C até o elastómero de silicone está curado.</li>
	<li>Repita as etapas de 6.1-6.3, se necessário.</li>
</ol>

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O artigo apresenta um protocolo de método para orientar a fabricação de atuadores de rede pneumática macio com câmaras oblíquas. Seguindo o protocolo, um atuador pode ser fabricado independentemente dentro de 3 h. Os principais passos no protocolo podem ser resumidos como segue. (i) o elastómero de silicone é preparado na proporção e bem misturado. (ii) o elastómero de silicone é derramado no molde para a fabricação das partes a câmara e a base. (iii) as bolhas na superfície exposta são furadas e qualque...

Actuadores pneumáticos macios (SPAs) são dispositivos macios que podem ser accionados pela simples entrada de ar pressão1,2. Eles podem ser fabricados com materiais diversos, tais como o de elastômeros de silicone3, tecidos4, memória de forma polímeros5e elastômeros dieléctrica6. Pesquisadores beneficiaram-se de sua natureza, de conformidade, movimentos hábeis e métodos de fabricação simples7, tal que os SPAs tornaram-se um dos dispositivos mais promissoras para aplicações de robótica macio8,9. Termas podem realizar vários movimentos sofisticados, tais como rastejando10, rotação11e12 , com base em vários tipos de deformação, inclusive estendendo-se, expandindo, flexão e torção13, de rolamento 14. para ser capaz de fazer diferentes tipos de movimentos, SPAs são projetados em estruturas diferentes, como um corpo linear com canais paralelos15, uma câmara monolítica com reforços de fibra16, e redes de repetida câmaras de sub17. Entre eles, os SPAs com redes de câmaras sub repetidas, os atuadores de rede pneumática macio, são amplamente empregados porque elas podem gerar grandes deformações sob uma pressão de entrada relativamente baixa. No entanto, na maioria dos projetos anteriores, este tipo de atuadores só pode gerar movimentos de dobrando no espaço 2-D, que limita muito suas aplicações.
Um atuador macio rede pneumática consiste num grupo arranjado linearmente das câmaras ligadas por um canal interno. Cada câmara cúbica contém um par de paredes opostas que são mais finos do que o outro par e produz uma inflação de dois lados na direção perpendicular às paredes mais finas. Originalmente, as paredes mais finas das câmaras são perpendiculares ao eixo longitudinal do corpo do atuador e inflam juntamente com eixo longo. Estas insuflações colineares em câmaras e a base não-extensível originar uma flexão pura integrante do atuador. Para explorar o movimento do atuador no espaço 3D, a orientação das câmaras é ajustada para que as paredes laterais do diluente não são mais perpendiculares ao eixo longo do atuador (Figura 1A), que permite a direção de inflação de cada câmara para o deslocamento do eixo e tornar-se não colineares. Todos as paralelas mas não-colineares insuflações mudarem o movimento do atuador em um acoplado flexão e torção de movimento no espaço 3-d.18. Este movimento acoplado permite que os atuadores mais flexibilidade e destreza e faz os atuadores um candidato adequado para aplicações mais práticas, tais como manipuladores flexíveis, robôs biologicamente inspirados e dispositivos médicos.
Este protocolo mostra o método de fabricação deste tipo de atuadores de rede pneumática macio com câmaras oblíquas. Ele inclui preparando o elastômero de silicone, fabricando a câmara e base peças, montagem do atuador, a tubagem de ligação, verificação de vazamentos e, se necessário, reparar o atuador. Ele também pode ser usado para fabricar atuadores de rede pneumática macio normal e outros atuadores macios que podem ser produzidos com algumas modificações simples para o método de moldagem. Nós fornecemos as etapas detalhadas para fabricar um atuador pneumático macio com câmaras oblíquo de 30°. Para diferentes aplicações, atuadores com ângulos de câmara diferentes podem ser fabricados de acordo com o mesmo protocolo. Além disso, os atuadores podem ser combinados para formar um sistema multi atuador para diversas demandas.

<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

Atuadores de rede pneumática macio se tornaram uma dos dispositivos de atuação mais promissoras em robótica macio que beneficia os grandes deformações de flexão e baixa entrada. No entanto, sua forma de movimento de flexão monótono em um espaço bidimensional (2D) os mantém longe de amplas aplicações. Este trabalho apresenta um método de fabricação detalhada dos atuadores de rede pneumática macio com câmaras oblíquas, para explorar seus movimentos no espaço tridimensional (3D). O design das câmaras oblíquas permite atuadores com ajustável acoplado a flexão e torção de recursos, que lhes dá a possibilidade de mover destreza em manipuladores flexíveis, tornar-se biologicamente inspirados de robôs e dispositivos médicos. O processo de fabricação baseia-se o método de moldagem, incluindo o conjunto do atuador, conexões de tubulação, fabricação de peças do silicone elastômero preparação, câmara e base, verifica se há vazamentos e reparo do atuador. O método de fabricação garante a fabricação rápida de uma série de atuadores com apenas algumas modificações nos moldes. Os resultados dos testes mostram a alta qualidade dos atuadores proeminente de flexão e torção capacidades. Experimentos do pegador de demonstram as vantagens do desenvolvimento em adaptar-se a objetos com diferentes diâmetros e fornecendo suficiente fricção.

Único atuador: Para verificar o método de fabricação e demonstrar a função do atuador, 30°, 45° e 60° atuadores foram fabricados e testados. Para a montagem do experimento, uma bomba de ar foi empregada para ativar a válvula. A válvula estava ligada ao actuador para controlar a pressão interna. O único atuador foi fixado em sua extremidade de conexão e colocado verticalmente. Enquanto o atuador estava sendo pressurizado, duas câmeras digitais foram usada...

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

Aqui nós apresentamos um método de fabricação de atuadores de rede pneumática macio com câmaras oblíquas. Os atuadores são capazes de gerar acoplado flexão e torção de movimentos, que amplia sua aplicação em robótica macia.

Fabricação de atuadores de rede pneumática macio com câmaras oblíquas

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

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Engineering

9.0K visualizações.  Shanghai Jiao Tong University. Aqui nós apresentamos um método de fabricação de atuadores de rede pneumática macio com câmaras oblíquas. Os atuadores são capazes de gerar acoplado flexão e torção de movimentos, que amplia sua aplicação em robótica macia.

Vídeo: 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.

Fabricação de Baixa Temperatura de Nanotubos de Carbono Vertical Interconexões Compatível com Semiconductor Tecnologia

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

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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.

Processo de fabricação de base de silicone dielétricos Elastomer Atuadores

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.

Fabrication indireta de Malha Metals com cortes finos Usando Fundição

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.

Um método de fabricação para Condutores altamente extensível com prata Nanowires

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.

Atuadores de luz de forma livre - Fabricação e Controle de atuação em escala microscópica

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.

Projeto e fabricação de uma Unidade de elastômero para robôs modulares moles em Cirurgia Minimamente Invasiva

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

Bioengenharia

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.

Fabricação rápida de atuadores e robôs pneumáticos macios finos

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.

Fabricação baseada em vara de customizáveis ​​macias robóticos pneumáticas Gripper Aparelhos para a manipulação de tecidos delicados

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.

Fabricação de atuadores macios eletromecanicamente ativos à base de carbono

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.

Avaliação de fabricação, controle e desempenho de um robô macio inspirado em gecko

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

Fabricação de atuadores de rede pneumática macio com câmaras oblíquas

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Fabricação baseada em vara de customizáveis ​​macias robóticos pneumáticas Gripper Aparelhos para a manipulação de tecidos delicados

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Avaliação de fabricação, controle e desempenho de um robô macio inspirado em gecko

Fabricação baseada em vara de customizáveis macias robóticos pneumáticas Gripper Aparelhos para a manipulação de tecidos delicados