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A Fully Three-Dimensional Printed Inchworm-Inspired Soft Robot with Magnetic Actuation.

Erina B Joyee1, Yayue Pan1

  • 1Department of Mechanical & Industrial Engineering, University of Illinois at Chicago, Chicago, Illinois.

Soft Robotics
|February 6, 2019
PubMed
Summary

Researchers developed a 3D printed, magnetically actuated soft robot inspired by inchworms. This tetherless robot offers a simple, wireless control system for locomotion in confined spaces.

Keywords:
3D printingbio-inspired soft roboticscrawling locomotionmagnetic actuationparticle–polymer compositestereolithography

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Area of Science:

  • Robotics and Biomimetics
  • Materials Science
  • Additive Manufacturing

Background:

  • Soft robots offer advantages in safety and versatility over rigid robots.
  • Biomimetic designs, particularly inchworm locomotion, are promising for navigating complex environments.
  • Existing soft robot actuation and manufacturing methods face limitations in size, control, and complexity.

Purpose of the Study:

  • To design and fabricate a fully 3D printed, monolithic, and tetherless inchworm-inspired soft robot.
  • To utilize magnetic actuation for wireless, non-contact control of the robot's linear locomotion.
  • To develop a simplified manufacturing process using additive manufacturing techniques.

Main Methods:

  • A novel magnetic field assisted projection stereolithography technique was employed for direct 3D printing.
  • The robot's structure is a multimaterial heterogeneous particle-polymer composite with programmed material compositions.
  • Analytical models and numerical simulations were used to analyze crawling locomotion, validated by experimental results.

Main Results:

  • A functional, 3D printed inchworm-inspired soft robot capable of linear locomotion was successfully created.
  • Magnetic actuation enabled simple, wireless, and non-contact control of the robot.
  • The manufacturing process was streamlined, producing a monolithic structure without complex assembly.
  • Locomotion mechanisms were evaluated through friction tests and stride efficiency analysis.

Conclusions:

  • The study demonstrates a viable approach to fabricating and controlling tetherless soft robots using 3D printing and magnetic actuation.
  • This inchworm-inspired robot shows potential for applications requiring maneuverability in confined or challenging environments.
  • The proposed magnetic field assisted projection stereolithography offers a promising method for creating complex, functional soft robotic systems.