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