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>

<ol>
	<li>Rus, D., Tolley, M. T. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Design,+fabrication+and+control+of+soft+robots.">Design, fabrication and control of soft robots.</a> Nature. 521 (7553), 467-475 (2015).</li><li>Ilievski, F., Mazzeo, A. D., Shepherd, R. F., Chen, X., Whitesides, G. M. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Soft+robotics+for+chemists.">Soft robotics for chemists.</a> Angewandte Chemie International Edition. 50 (8), 1890-1895 (2011).</li><li>Shepherd, R. F., et al. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Multigait+soft+robot.">Multigait soft robot.</a> Proceedings of the National Academy of Sciences of the United States of America. 108 (51), 20400-20403 (2011).</li><li>Yap, H. K., et al. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=A+fully+fabric-based+bidirectional+soft+robotic+glove+for+assistance+and+rehabilitation+of+hand+impaired+patients.">A fully fabric-based bidirectional soft robotic glove for assistance and rehabilitation of hand impaired patients.</a> IEEE Robotics and Automation Letters. 2 (3), 1383-1390 (2017).</li><li>Yang, Y., Chen, Y., Li, Y., Chen, M. Z. Q., Wei, Y. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Bioinspired+Robotic+Fingers+Based+on+Pneumatic+Actuator+and+3D+Printing+of+Smart+Material.">Bioinspired Robotic Fingers Based on Pneumatic Actuator and 3D Printing of Smart Material.</a> Soft Robotics. 4 (2), 147-162 (2017).</li><li>Gu, G. Y., Zhu, J., Zhu, L. M., Zhu, X. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=A+survey+on+dielectric+elastomer+actuators+for+soft+robots.">A survey on dielectric elastomer actuators for soft robots.</a> Bioinspiration &amp; Biomimetics. 12 (1), 011003 (2017).</li><li>Holland, D. P., et al. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=The+soft+robotics+toolkit:+Strategies+for+overcoming+obstacles+to+the+wide+dissemination+of+soft-robotic+hardware.">The soft robotics toolkit: Strategies for overcoming obstacles to the wide dissemination of soft-robotic hardware.</a> IEEE Robotics &amp; Automation Magazine. 24 (1), 57-64 (2017).</li><li>Galloway, K. C., et al. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Soft+Robotic+Grippers+for+Biological+Sampling+on+Deep+Reefs.">Soft Robotic Grippers for Biological Sampling on Deep Reefs.</a> Soft Robotics. 3 (1), 23-33 (2016).</li><li>Polygerinos, P., Wang, Z., Galloway, K. C., Wood, R. J., Walsh, C. J. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Soft+robotic+glove+for+combined+assistance+and+at-home+rehabilitation.">Soft robotic glove for combined assistance and at-home rehabilitation.</a> Robotics and Autonomous Systems. 73, 135-143 (2015).</li><li>Tolley, M. T., et al. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=A+Resilient,+Untethered+Soft+Robot.">A Resilient, Untethered Soft Robot.</a> Soft Robotics. 1 (3), 213-223 (2014).</li><li>Ainla, A., Verma, M. S., Yang, D., Whitesides, G. M. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Soft,+Rotating+Pneumatic+Actuator.">Soft, Rotating Pneumatic Actuator.</a> Soft Robotics. 4 (3), 297-304 (2017).</li><li>Koizumi, Y., Shibata, M., Hirai, S. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Rolling+tensegrity+driven+by+pneumatic+soft+actuators.">Rolling tensegrity driven by pneumatic soft actuators.</a> 2012 IEEE International Conference on Robotics and Automation (ICRA). , (2012).</li><li>Connolly, F., Polygerinos, P., Walsh, C. J., Bertoldi, K. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Mechanical+Programming+of+Soft+Actuators+by+Varying+Fiber+Angle.">Mechanical Programming of Soft Actuators by Varying Fiber Angle.</a> Soft Robotics. 2 (1), 26-32 (2015).</li><li>Connolly, F., Walsh, C. J., Bertoldi, K. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Automatic+design+of+fiber-reinforced+soft+actuators+for+trajectory+matching.">Automatic design of fiber-reinforced soft actuators for trajectory matching.</a> Proceedings of the National Academy of Sciences of the United States of America. 114 (1), 51-56 (2017).</li><li>Martinez, R. V., et al. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Robotic+tentacles+with+three-dimensional+mobility+based+on+flexible+elastomers.">Robotic tentacles with three-dimensional mobility based on flexible elastomers.</a> Advanced Materials. 25 (2), 205-212 (2013).</li><li>Polygerinos, P., et al. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Modeling+of+Soft+Fiber-Reinforced+Bending+Actuators.">Modeling of Soft Fiber-Reinforced Bending Actuators.</a> IEEE Transactions on Robotics. 31 (3), 778-789 (2015).</li><li>Mosadegh, B., et al. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Pneumatic+Networks+for+Soft+Robotics+that+Actuate+Rapidly.">Pneumatic Networks for Soft Robotics that Actuate Rapidly.</a> Advanced Functional Materials. 24 (15), 2163-2170 (2014).</li><li>Wang, T., Ge, L., Gu, G. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Programmable+design+of+soft+pneu-net+actuators+with+oblique+chambers+can+generate+coupled+bending+and+twisting+motions.">Programmable design of soft pneu-net actuators with oblique chambers can generate coupled bending and twisting motions.</a> Sensors and Actuators A: Physical. 271, 131-138 (2018).</li><li>Marchese, A. D., Katzschmann, R. K., Rus, D. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=A+Recipe+for+Soft+Fluidic+Elastomer+Robots.">A Recipe for Soft Fluidic Elastomer Robots.</a> Soft Robotics. 2 (1), 7-25 (2015).</li></ol>

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 border="0" cellpadding="0" cellspacing="0" style="width:796px;" width="794">
	<colgroup>
		<col />
		<col />
		<col />
		<col />
	</colgroup>
	<tbody>
		<tr height="42">
			<td height="42" style="height:42px;width:207px;">Silicone elastomer</td>
			<td style="width:168px;">Wacker</td>
			<td style="width:135px;">ELASTOSIL M4601 A/B</td>
			<td style="width:287px;">Material of the actuators</td>
		</tr>
		<tr height="63">
			<td height="63" style="height:63px;width:207px;">Syringe&#160;</td>
			<td style="width:168px;">Shanghai Kindly Medical Instruments&#160;</td>
			<td style="width:135px;">10 ml</td>
			<td style="width:287px;">Used to inject silicone rubber into the hole of the mold for fabricating the connection end</td>
		</tr>
		<tr height="21">
			<td height="21" style="height:21px;width:207px;">Precision scale</td>
			<td style="width:168px;">Shanghai Hochoice</td>
			<td style="width:135px;">UTP-313</td>
			<td style="width:287px;">Used to weigh the silicone rubber</td>
		</tr>
		<tr height="42">
			<td height="42" style="height:42px;width:207px;">Planetary centrifugal vacuum mixer</td>
			<td style="width:168px;">THINKY</td>
			<td style="width:135px;">ARE-310</td>
			<td style="width:287px;">Used to mix the silicone rubber and defoam after mixing process</td>
		</tr>
		<tr height="21">
			<td height="21" style="height:21px;width:207px;">Release agent</td>
			<td style="width:168px;">Smooth-on</td>
			<td style="width:135px;">Release 200</td>
			<td style="width:287px;">Used for ease of demolding&#160;</td>
		</tr>
		<tr height="42">
			<td height="42" style="height:42px;width:207px;">Needle</td>
			<td style="width:168px;">Shanghai Kindly Medical Instruments&#160;</td>
			<td style="width:135px;"></td>
			<td style="width:287px;">Used for Piercing the bubbles form on the surface</td>
		</tr>
		<tr height="63">
			<td height="63" style="height:63px;width:207px;">Utility blade</td>
			<td style="width:168px;">M&#38;G Chenguang Stationery</td>
			<td style="width:135px;">ASS91325</td>
			<td style="width:287px;">Used for Scraping off excess silicone rubber along the upper surface of the mold&#160;</td>
		</tr>
		<tr height="42">
			<td height="42" style="height:42px;width:207px;">Vacuum oven</td>
			<td style="width:168px;">Ningbo SI Instrument</td>
			<td style="width:135px;">DZF-6050</td>
			<td style="width:287px;">Used to reduce the cure time of the silicone rubber</td>
		</tr>
		<tr height="63">
			<td height="63" style="height:63px;width:207px;">Male stud push in fit pneumatic fitting</td>
			<td style="width:168px;">Zhe Jiang BLCH Pneumatic Science &#38; Technology</td>
			<td style="width:135px;">PC4-01</td>
			<td style="width:287px;">Used to connect the tubing and the 3D-printed actuator tubing connector</td>
		</tr>
		<tr height="21">
			<td height="21" style="height:21px;width:207px;">Tubing</td>
			<td style="width:168px;">SMC</td>
			<td style="width:135px;">TU0425</td>
			<td style="width:287px;">Used for actuating the actuators</td>
		</tr>
		<tr height="63">
			<td height="63" style="height:63px;width:207px;">Vacuum pump</td>
			<td style="width:168px;">Zhe Jiang BLCH Pneumatic Science &#38; Technology</td>
			<td style="width:135px;"></td>
			<td style="width:287px;">Used as the air source</td>
		</tr>
		<tr height="63">
			<td height="63" style="height:63px;width:207px;">Pressure valve</td>
			<td style="width:168px;">Zhe Jiang BLCH Pneumatic Science &#38; Technology</td>
			<td style="width:135px;">IR1000-01BG</td>
			<td style="width:287px;">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

8.9K 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 Gate-tunable Graphene Devices for Scanning Tunneling Microscopy Studies with Coulomb Impurities

Owing to its relativistic low-energy charge carriers, the interaction between graphene and various impurities leads to a wealth of new physics and degrees of freedom to control electronic devices. In particular, the behavior of graphene&#8217;s charge carriers in response to potentials from charged Coulomb impurities is predicted to differ significantly from that of most materials. Scanning tunneling microscopy (STM) and scanning tunneling spectroscopy (STS) can provide detailed information on both the spatial and energy dependence of graphene&#39;s electronic structure in the presence of a charged impurity.&#160;The design of a hybrid impurity-graphene device, fabricated using controlled deposition of impurities onto a back-gated graphene surface, has enabled several novel methods for controllably tuning graphene&#8217;s electronic properties.1-8 Electrostatic gating enables control of the charge carrier density in graphene and the ability to reversibly tune the charge2 and/or molecular5 states of an impurity. This paper outlines the process of fabricating a gate-tunable graphene device decorated with individual Coulomb impurities for combined STM/STS studies.2-5 These studies provide valuable insights into the underlying physics, as well as signposts for designing hybrid graphene devices.

This paper details the fabrication process of a gate-tunable graphene device, decorated with Coulomb impurities for scanning tunneling microscopy studies. Mapping the spatially dependent electronic structure of graphene in the presence of charged impurities unveils the unique behavior of its relativistic charge carriers in response to a local Coulomb potential.

Coulomb İmpürite Tarama Tünel Mikroskobu Çalışmaları Kapısı-ayarlanabilir Grafen Cihazlarının İmalatı

Owing to its relativistic low-energy charge carriers, the interaction between graphene and various impurities leads to a wealth of new physics and degrees ...

Mühendislik

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 ...

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 ...

Fabrication of White Light-emitting Electrochemical Cells with Stable Emission from Exciplexes

The authors present an approach for fabricating stable white light emission from polymer light-emitting electrochemical cells (PLECs) having an active layer which consists of blue-fluorescent poly(9,9-di-n-dodecylfluorenyl-2,7-diyl) (PFD) and &#960;-conjugated triphenylamine molecules. This white light emission originates from exciplexes formed between PFD and amines in electronically excited states. A device containing PFD, 4,4&#39;,4&#39;&#39;-tris[2-naphthyl(phenyl)amino]triphenylamine (2-TNATA), Poly(ethylene oxide) and K2CF3SO3 showed white light emission with Commission internationale de l&#39;&#233;clairage (CIE) coordinates of (0.33, 0.43) and a Color Rendering Index (CRI) of Ra = 73 at an applied voltage of 3.5 V. Constant voltage measurements showed that the CIE coordinates of (0.27, 0.37), Ra of 67, and the emission color observed immediately after application of a voltage of 5 V were nearly unchanged and stable after 300 sec.

The authors present a method for fabricating stable white-light-emitting electrochemical cells utilizing emission from exciplexes formed between a blue-emitting fluorene polymer and aromatic amines.

Beyaz Fabrikasyon Exciplexes gelen Kararlı Emisyon ile elektrokimyasal Hücreleri Işık yayan

The authors present an approach for fabricating stable white light emission from polymer light-emitting electrochemical cells (PLECs) having an active ...

Experimental Implementation of a New Composite Fabrication Method: Exposing Bare Fibers on the Composite Surface by the Soft Layer Method

The bipolar plate is a key component in proton exchange membrane fuel cells (PEMFCs) and vanadium redox flow batteries (VRFBs). It is a multi-functional component that should have high electrical conductivity, high mechanical properties, and high productivity.
In this regard, a carbon fiber/epoxy resin composite can be an ideal material to replace the conventional graphite bipolar plate, which often leads to the catastrophic failure of the entire system because of its inherent brittleness. Though the carbon/epoxy composite has high mechanical properties and is easy to manufacture, the electrical conductivity in the through-thickness direction is poor because of the resin-rich layer that forms on its surface. Therefore, an expanded graphite coating was adopted to solve the electrical conductivity issue. However, the expanded graphite coating not only increases the manufacturing costs but also has poor mechanical properties.
In this study, a method to expose fibers on the composite surface is demonstrated. There are currently many methods that can expose fibers by surface treatment after the fabrication of the composite. This new method, however, does not require surface treatment because the fibers are exposed during the manufacture of the composite. By exposing bare carbon fibers on the surface, the electrical conductivity and mechanical strength of the composite are increased drastically.

A protocol to expose bare fibers on the composite surface by eliminating resin rich area is presented. The fibers are exposed during fabrication of the composites, not by the post surface treatment. The exposed carbon composites exhibit high electrical conductivity in the through-thickness direction and high mechanical property.

Deneysel yeni bir bileşik imalat yöntemi uygulanması: bileşik yüzeyi yumuşak katman yöntemi tarafından çıplak lifleri ortaya

The bipolar plate is a key component in proton exchange membrane fuel cells (PEMFCs) and vanadium redox flow batteries (VRFBs). It is a multi-functional ...

Fabrication of Ultra-thin Color Films with Highly Absorbing Media Using Oblique Angle Deposition

Ultra-thin film structures have been studied extensively for use as optical coatings, but performance and fabrication challenges remain.&#160; We present an advanced method for fabricating ultra-thin color films with improved characteristics. The proposed process addresses several fabrication issues, including large area processing. Specifically, the protocol describes a process for fabricating ultra-thin color films using an electron beam evaporator for oblique angle deposition of germanium (Ge) and gold (Au) on silicon (Si) substrates.&#160; Film porosity produced by the oblique angle deposition induces color changes in the ultra-thin film. The degree of color change depends on factors such as deposition angle and film thickness. Fabricated samples of the ultra-thin color films showed improved color tunability and color purity. In addition, the measured reflectance of the fabricated samples was converted into chromatic values and analyzed in terms of color. Our ultra-thin film fabricating method is expected to be used for various ultra-thin film applications such as flexible color electrodes, thin film solar cells, and optical filters. Also, the process developed here for analyzing the color of the fabricated samples is broadly useful for studying various color structures.

We present a detailed method for fabricating ultra-thin color films with improved characteristics for optical coatings. The oblique angle deposition technique using an electron beam evaporator allows improved color tunability and purity. Fabricated films of Ge and Au on Si substrates were analyzed by reflectance measurements and color information conversion.

Eğik açısı ifade kullanarak medya yüksek emici ile Ultra ince renk filmleri imalatı

Ultra-thin film structures have been studied extensively for use as optical coatings, but performance and fabrication challenges remain.&#160; We present ...

A Soft Tooling Process Chain for Injection Molding of a 3D Component with Micro Pillars

The purpose of this paper is to present the method of a soft tooling process chain employing Additive Manufacturing (AM) for fabrication of injection molding inserts with micro surface features. The Soft Tooling inserts are manufactured by Digital Light Processing (vat photo polymerization) using a photopolymer that can withstand relatively high temperaturea. The part manufactured here has four tines with an angle of 60&#176;. Micro pillars (&#216;200 &#181;m, aspect ratio of 1) are arranged on the surfaces by two rows. Polyethylene (PE) injection molding with the soft tooling inserts is used to fabricate the final parts. This method demonstrates that it is feasible to obtain injection-molded parts with microstructures on complex geometry by additive manufactured inserts. The machining time and cost is reduced significantly compared to conventional tooling processes based on computer numerical control (CNC) machining. The dimensions of the micro features are influenced by the applied additive manufacturing process. The lifetime of the inserts determines that this process is more suitable for pilot production. The precision of the inserts production is limited by the additive manufacturing process as well.

A protocol for fabricating injection molding inserts for complex geometry with micro features on surfaces employing Additive Manufacturing (AM) is presented.

3D bir bileşenin mikro enjeksiyon kalıplama için yumuşak takım süreç zinciri sütun

The purpose of this paper is to present the method of a soft tooling process chain employing Additive Manufacturing (AM) for fabrication of injection ...