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In This Article

  • Summary
  • Abstract
  • Introduction
  • Protocol
  • Representative Results
  • Discussion
  • Acknowledgements
  • Materials
  • References
  • Reprints and Permissions

Summary

Here we present a fabrication method of soft pneumatic network actuators with oblique chambers. The actuators are capable of generating coupled bending and twisting motions, which broadens their application in soft robotics.

Abstract

Soft pneumatic network actuators have become one of the most promising actuation devices in soft robotics which benefits from their large bending deformation and low input. However, their monotonous bending motion form in two-dimensional (2-D) space keeps them away from wide applications. This paper presents a detailed fabrication method of soft pneumatic network actuators with oblique chambers, to explore their motions in three-dimensional (3-D) space. The design of oblique chambers enables actuators with tunable coupled bending and twisting capabilities, which gives them the possibility to move dexterously in flexible manipulators, to become biologically inspired robots and medical devices. The fabrication process is based on the molding method, including the silicone elastomer preparation, chamber and base parts fabrication, actuator assembly, tubing connections, checks for leaks, and actuator repair. The fabrication method guarantees the rapid manufacturing of a series of actuators with only a few modifications in the molds. The test results show the high quality of the actuators and their prominent bending and twisting capabilities. Experiments of the gripper demonstrate the advantages of the development in adapting to objects with different diameters and providing sufficient friction.

Introduction

Soft pneumatic actuators (SPAs) are soft devices that can be actuated by the simple input of air pressure1,2. They can be fabricated with diverse materials, such as silicone elastomers3, fabrics4, shape-memory polymers5, and dielectric elastomers6. Researchers have benefited from their nature of compliance, dexterous motions, and simple fabrication methods7, such that SPAs have become one of the most promising devices for soft robotics applications8,

Protocol

NOTE: The protocol provides the fabrication procedures of a soft pneumatic network actuator. Before the fabrication procedure, a set of molds and several actuator-tubing connectors, which are designed with computer-aided design (CAD) software must be 3-D-printed in advance. The molds are shown in Figure 1B.

1. Silicone Elastomer Preparation

  1. Weigh 5 g of silicone elastomer part B and 45 g of part A [9:1 (A:B) parts by weight] in the sam.......

Representative Results

Single Actuator:
To verify the fabrication method and demonstrate the function of the actuator, 30°, 45°, and 60° actuators were fabricated and tested. For the experiment set-up, an air pump was employed to activate the valve. The valve was connected to the actuator to control the internal pressure. The single actuator was fixed at its connection end and placed vertically. While the actuator was being pressurized, two digital cameras were used to capt.......

Discussion

The paper presents a method protocol to guide the fabrication of soft pneumatic network actuators with oblique chambers. Following the protocol, one actuator can be fabricated independently within 3 h. The key steps in the protocol can be summarized as follows. (i) The silicone elastomer is prepared in proportion and mixed well. (ii) The silicone elastomer is poured into the mold for the fabrication of the chamber part and the base part. (iii) The bubbles on the exposed surface are pierced and any excess silicone elastom.......

Acknowledgements

This work was supported by the National Natural Science Foundation of China under Grant 51622506 and the Science and Technology Commission of Shanghai Municipality under Grant 16JC1401000.

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Materials

NameCompanyCatalog NumberComments
Silicone elastomerWackerELASTOSIL M4601 A/BMaterial of the actuators
Syringe Shanghai Kindly Medical Instruments 10 mlUsed to inject silicone rubber into the hole of the mold for fabricating the connection end
Precision scaleShanghai HochoiceUTP-313Used to weigh the silicone rubber
Planetary centrifugal vacuum mixerTHINKYARE-310Used to mix the silicone rubber and defoam after mixing process
Release agentSmooth-onRelease 200Used for ease of demolding 
NeedleShanghai Kindly Medical Instruments Used for Piercing the bubbles form on the surface
Utility bladeM&G Chenguang StationeryASS91325Used for Scraping off excess silicone rubber along the upper surface of the mold 
Vacuum ovenNingbo SI InstrumentDZF-6050Used to reduce the cure time of the silicone rubber
Male stud push in fit pneumatic fittingZhe Jiang BLCH Pneumatic Science & TechnologyPC4-01Used to connect the tubing and the 3D-printed actuator tubing connector
TubingSMCTU0425Used for actuating the actuators
Vacuum pumpZhe Jiang BLCH Pneumatic Science & TechnologyUsed as the air source
Pressure valveZhe Jiang BLCH Pneumatic Science & TechnologyIR1000-01BGUsed for adjusting the input air pressure

References

  1. Rus, D., Tolley, M. T. Design, fabrication and control of soft robots. Nature. 521 (7553), 467-475 (2015).
  2. Ilievski, F., Mazzeo, A. D., Shepherd, R. F., Chen, X., Whitesides, G. M. Soft robotics for chemists. Angewandte Chemie International Edi....

Explore More Articles

Soft Pneumatic Network ActuatorsOblique ChambersFabrication MethodCoupled Bending And Twisting MotionsMold DesignSilicone ElastomerPlanetary Centrifugal MixerMold Release AgentCuringSoft Robotics

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