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

Bu eser Ulusal Doğa Bilimleri Vakfı Çin altında hibe 51622506 ve bilim ve Teknoloji Komisyonu, Shanghai Belediyesi Grant 16JC1401000 altında tarafından desteklenmiştir.

Not: Protokol yumuşak Pnömatik ağ aktüatör imalat yordamlar sağlar. Üretim yordamı, kalıpları kümesi ve birkaç aktüatör-boru konektörleri önce hangi ile bilgisayar destekli tasarım (CAD) yazılımıyla önceden 3 3-d basılmış olması gerekir tasarlanmıştır. Kalıpları Şekil 1' deBgösterilir.
1. silikon Elastomer hazırlık
<ol><li>5 g silikon elastomer Bölüm B ve 45 g, Bölüm A [9:1 (A:B) bölümleri tarafından ağırlık] aynı karıştırma kapta (Şekil 2A) tartmak. Bir şırınga her bölümü oranlarda doğru olduğundan emin olmak için kullanın. Not: Farklı silikon elastomer için karıştırma oranı değişir. Ne zaman başka bir silikon elastomer evlat edinmek her bölümü oranda ayarlanmalıdır.</li>
	<li>Silikon elastomer de gezegen santrifüj mikser ile karıştırın. Not: Silikon elastomer onun işleme süresini uzatmak için bir düşük sıcaklıkta saklanan olabilir.</li>
</ol>2. deniz ticaret odası bölümü imalat
<ol><li>Kalıp yayın aracının silikon elastomer ürünler için eşit olarak kalıp Bölüm A ve kısım B. yüzeylerde sprey</li>
	<li>Bölüm A ve B parçası kalıp bir odası imalatı için bir araya getirin. Her iki ucunda da kalıp silikon elastomer kaçağı önlemek için klipleri ile tutun.</li>
	<li>5 mL silikon elastomer de bir şırınga al ve yavaş yavaş bağlantı sonuna (tüp bağlamak için harekete geçirici bir ucundaki silindirik yapısı) imalatı için kalıp delik içine enjekte etmek. Daha sonra tüm kalıp silikon elastomer (Şekil 2B) ile doldurun. Not: düşük akış hızı tutmak ve ileri geri ve yavaş yavaş, kalıp küçük yapıların girin silikon elastomer izin gider.</li>
	<li>Daha fazla hava kabarcığı yok görünür (Şekil 2C) kadar bir iğne ucu ile yüzeyi oluşturan baloncuklar işlemek.</li>
	<li>Kalıp üst yüzeyi boyunca bir bıçak ile herhangi bir fazla silikon elastomer kazımak.</li>
	<li>Silikon elastomer tedavi kadar 70 ° C fırında kalıp koyun.</li>
	<li>Bir şırınga silikon elastomer kabarcıklar ve aktüatör yüzeyinde görünür delik içine enjekte etmek için kullanın.</li>
	<li>Herhangi bir fazla silikon elastomer yüzeyi kapalı kazımak.</li>
	<li>Silikon elastomer tedavi kadar 70 ° C fırında kalıp koyun.</li>
</ol>3. taban parçası imalatı
<ol><li>Kalıp yayın aracının silikon elastomer ürünler için eşit olarak kalıp parçası C. yüzeyinde sprey</li>
	<li>Silikon elastomer kalıp parçası C dökün.</li>
	<li>Kadar daha fazla hava kabarcığı yok görünür, bir iğne ucu ile yüzeyi oluşturan baloncuklar işlemek.</li>
	<li>Kalıp üst yüzeyi boyunca bir bıçak ile herhangi bir fazla silikon elastomer kazımak.</li>
	<li>Silikon elastomer tedavi kadar 70 ° C fırında kalıp koyun.</li>
</ol>4. aktüatör derleme
<ol><li>Eşit olarak silikon elastomer, 1 mm kalınlıkta, tabakası taban parçası bir yüzünde dökün.</li>
	<li>Odası bölümü taban parçası koyun. Bir şırınga silikon elastomer odası ve temel bölümlerini (Şekil 2D) arasındaki boşluğa enjekte etmek için kullanın.</li>
	<li>Silikon elastomer tedavi kadar 70 ° C fırında aktüatör koyun.</li>
</ol>5. boru bağlantı
<ol><li>Pnömatik montaj vida bir erkek damızlık itmek-in uygun kabul etmek için 3 3-d baskılı aktüatör-boru bağlayıcı dokunun.</li>
	<li>Aktüatör silindir Merkez boyunca bağlantı sonu delmek için bir iğne kullanın. Yaklaşık 2 mm çelik bir çubuk ile delik çapi artırın.</li>
	<li>Aktüatör-boru bağlayıcı aktüatör (Şekil 2E) canı cehenneme.</li>
	<li>Tüp bir bölümünü erkek damızlık soketli uygun pnömatik montaj içine itin.</li>
</ol>6. onay ve Onar sızıntı
<ol><li>Aktüatör bir hava kaynağına bağlanın.</li>
	<li>Bütün aktüatör suya yerleştirin ve aktüatör (Şekil 2F) baskı yapmak. Baloncuklar bir sızıntı nedeniyle oluşur olup olmadığını gözlemlemek.</li>
	<li>Bir şırınga silikon elastomer sızıntı noktaları içine enjekte etmek için kullanın. Silikon elastomer tedavi kadar 70 ° C fırında aktüatör koyun.</li>
	<li>6.1-6,3 gerekirse yineleyin.</li>
</ol>

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Yazarlar ifşa gerek yok.

Kağıdın yumuşak Pnömatik ağ aktüatörler eğik chambers ile imalatı rehberlik için bir yöntemi protokol sunar. Protokolü bir aktüatör içinde bağımsız olarak 3 h sahte olduğu. Protokol önemli adımlar aşağıdaki gibi özetlenebilir. (i silikon elastomer orantılı olarak hazırlanır ve de karışık. (ii) silikon elastomer odası bölümü ve taban parçası imalatı için kalıp içine dökülür. (iii) maruz yüzeyi baloncuklar deldi ve herhangi bir fazla silikon elastomer maruz yüzeyi kapalı al?...

Yumuşak Pnömatik Aktüatörler (kaplıcalar) hava basıncı1,2basit giriş tarafından tahrik yumuşak aygıtlardır. Onlar silikon elastomer3, kumaşlar4, şekil-bellek polimerler5ve dielektrik elastomerler6gibi farklı malzemeler ile sahte olduğu. Öyle ki kaplıcalar yumuşak robotik uygulamaları8,9için en umut verici cihazlar haline gelmiştir araştırmacılar uyum, hünerli hareketleri ve basit imalat yöntemleri7, onların doğadan yararlandı. Kaplıcalar10, Rotasyon11, sürünen ve deformasyon, genişletme, genişleyen, bükme ve13, büküm gibi çeşitli türlerine göre12 haddeleme gibi çeşitli sofistike hareketleri fark edebilirsiniz 14. farklı hareketleri yapabilmek için kaplıcalar paralel kanalları15, elyaf takviye16, yekpare bir odası ile doğrusal bir vücut gibi farklı yapılarda tasarlanmıştır ve ağların tekrarladı alt odaları17. Onlar nispeten düşük giriş basıncı altında büyük deformasyonlar oluşturabilir çünkü bunlar arasında yaygın olarak yinelenen alt odalarının, yumuşak Pnömatik ağ Çalıştırıcılar, ağları ile kaplıcalar istihdam edilmektedir. Ancak, önceki tasarımları çoğunda, aktüatörler bu tür yalnızca 2-B alanı olan büyük ölçüde onların uygulamaları sınırlar bükme hareketleri oluşturabilir.
Yumuşak Pnömatik ağ aktüatör chambers tarafından bir iç kanal bağlı doğrusal olarak düzenlenmiş bir grubundan oluşur. Küp her odası diğer çifti ince olan karşıt duvarlar çifti içerir ve daha ince duvarlar dik yönde iki taraflı enflasyon üretir. Aslında, odaları ince duvarları aktüatör vücut uzun eksenine dik ve uzun ekseni ile birlikte şişirmek. Bu collinear inflations odaları ve Genişletilebilir Bankası aktüatör bir ayrılmaz saf bükme için yol. Tiner-yan duvarlar artık her odası enflasyon yönünü sağlayan uzun ekseninin aktüatör (Şekil 1A), için dikey böylece aktüatör'ın hareket 3 boyutlu uzayda keşfetmek için Odalar yönünü ayarlanmıştır eksenden ofset ve collinear dönüşmemesi için. Tüm paralel ama değil collinear inflations aktüatör hareket içine bir eşleşmiş bükme ve 3-b alan18' hareket büküm değiştirin. Eşleşmiş bu hareket çalıştırıcılar daha fazla esneklik ve el becerisi sağlar ve aktüatörler esnek manipülatörler, biyolojik olarak ilham robotlar ve tıbbi cihazlar gibi daha pratik uygulamalar için uygun bir aday yapar.
Bu iletişim kuralı imalat yöntemi yumuşak Pnömatik ağ aktüatörler eğik chambers ile bu tür gösterilir. Hazırlama odası ve temel parçaları, aktüatör montaj, Tüp bağlama, kaçakları kontrol ve, gerekirse, aktüatör onarım imalatı silikon elastomer içerir. Normal yumuşak Pnömatik ağ erişim düzenekleri ve bazı basit değişiklikler kalıplama yöntemi ile üretilen diğer yumuşak aktüatörler imal etmek de kullanılabilir. Biz 30 ° eğik chambers ile yumuşak bir pnömatik aktüatör imal ayrıntılı adımları sağlar. Farklı uygulamalar için farklı odası açıları ile aktüatörler aynı protokole göre sahte olduğu. Bunun dışında çeşitli talepleri için çoklu erişim düzeneği sistem oluşturmak üzere aktüatörler kombine edilebilir.

<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

Yumuşak Pnömatik ağ aktüatörler yumuşak robotik en umut verici çalıştırma cihazların hangi yarar--dan onların büyük bükme deformasyon ve düşük giriş haline gelmiştir. Ancak, monoton kendi iki boyutlu (2B) uzay ve hareket formunda bükme onları geniş uygulamalar uzak tutuyor. Bu kağıt ile üç boyutlu (3-D) uzayda kendi hareketleri keşfetmek için eğik chambers, yumuşak Pnömatik ağ aktüatörler Detaylı imalat yöntemi sunar. Eğik odaları tasarım aktüatörler akort ile bükme ve yetenekleri, büküm onlara ustalıkla biyolojik ilham robotlar ve tıbbi cihazlar olmak için esnek manipülatörler içinde hareket imkanı veren birleştiğinde sağlar. İmalat süreci kontrol sızıntıları ve aktüatör onarım için silikon elastomer hazırlık, odası ve temel parçaları imalatı, aktüatör derleme, boru bağlantıları da dahil olmak üzere döküm yöntemi temel alır. İmalat yöntemi aktüatörler kalıpları içinde sadece bir kaç değişiklik ile bir dizi hızlı üretim garanti eder. Test sonuçları aktüatörler önemli bükme ve yetenekleri büküm yüksek kalitesini gösteriyor. Kıskacı deneyler nesneleri farklı çaplarda uyum ve yeterli sürtünme sağlayan geliştirme avantajları göstermektedir.

Tek aktüatör: İmalat yöntemi doğrulamak ve çalıştırıcı, 30 °, 45 ° ile 60 ° işlevini göstermek için aktüatörler fabrikasyon ve test. Deneme kurulumu için bir hava pompası Vana etkinleştirmek için istihdam edildi. Vana aktüatör için iç basınç kontrol etmek için bağlı. Tek aktüatör onun bağlantı sonunda sabit ve dikey olarak yerleştirilmiş. Aktüatör basınç altında iken, iki dijital fotoğraf makinesi kendi pozisyonları farklı ...

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

Burada yumuşak Pnömatik ağ aktüatörler imalat yöntemi ile eğik odaları mevcut. Aktüatörler eşleşmiş bükme ve hareketleri, büküm üretme yeteneğine sahip olan yumuşak robotik uygulama onların genişletiyor.

Yumuşak Pnömatik ağ aktüatörler eğik Chambers ile imalatı

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 Görüntüleme.  Shanghai Jiao Tong University. Burada yumuşak Pnömatik ağ aktüatörler imalat yöntemi ile eğik odaları mevcut. Aktüatörler eşleşmiş bükme ve hareketleri, büküm üretme yeteneğine sahip olan yumuşak robotik uygulama onların genişletiyor.

Video: 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.

Yarıiletken Teknolojisi ile uyumlu Düşük Sıcaklık Karbon Nanotüp Dikey Bağlantıları Fabrikasyon

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

Mühendislik

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.

Silikon tabanlı Dielektrik Elastomer Aktüatörler Fabrikasyon Süreci

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.

Santrifüj Döküm kullanma İnce bölümler Örgü Metal Dolaylı Fabrikasyon

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.

Gümüş Nanotel ile son derece Gerilebilir İletkenler için bir Fabrikasyon Yöntemi

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.

Serbest biçimli Işık Aktüatörler - Mikroskobik Ölçeğinde imalat ve çalıştırma Kontrolü

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.

Tasarım ve Yumuşak Modüler Robotlar için bir Elastomerik Birimi Fabrikasyon Minimal İnvaziv Cerrahi

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

Biyomühendislik

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.

İnce Yumuşak Pnömatik Aktüatör ve Robotların Hızlı İmalatı

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.

Narin Doku Manipülasyon için Özelleştirilebilir Yumuşak Robotik Pnömatik Tutucu Cihazlar Rod tabanlı Fabrikasyon

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.

Karbon Bazlı İonik Elektromekanik Aktif Yumuşak Aktüatörlerin İmalatı

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.

Gecko'dan Esinlenilmiş Yumuşak Robotun İmalatı, Kontrolü ve Performans Değerlendirmesi

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