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Additive Manufacturing for Self-Healing Soft Robots.

Ellen Roels1,2,3, Seppe Terryn1,2,3, Joost Brancart3

  • 1Robotics and Multibody Mechanics (R&MM), Vrije Universiteit Brussel, Brussels, Belgium.

Soft Robotics
|March 12, 2020
PubMed
Summary
This summary is machine-generated.

This study introduces fused filament fabrication for creating self-healing soft robots from Diels-Alder polymers. This advanced manufacturing method enables complex designs and rapid repair of robotic components.

Keywords:
Diels–Alder polymersadditive manufacturingfused filament fabricationself-healing materialssoft robot materials and manufacturing

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Area of Science:

  • Robotics
  • Materials Science
  • Polymer Chemistry

Background:

  • Self-healing soft robots integrate damage recovery using synthetic self-healing polymers, specifically elastomeric Diels-Alder (DA) networks.
  • Previous manufacturing techniques like "shaping-through-folding-and-self-healing" were labor-intensive, slow, and limited design complexity.

Purpose of the Study:

  • To develop an additive manufacturing methodology for thermoreversible DA polymers suitable for soft robotics.
  • To validate this new approach on a functional soft robotic gripper, demonstrating enhanced design freedom and self-healing capabilities.

Main Methods:

  • Fused filament fabrication (FFF) was adapted for thermoreversible DA polymers, enabling reactive printing.
  • The developed FFF process was used to manufacture adaptive gripper fingers based on FESTO's DHAS design.

Main Results:

  • The FFF method successfully produced complex, flexible self-healing polymer structures.
  • The manufactured soft robotic gripper fingers demonstrated complete recovery from macroscopic damage, including cuts, tears, and punctures, through multiple damage-heal cycles.

Conclusions:

  • Additive manufacturing via FFF offers significant advantages in designing and fabricating self-healing soft robots.
  • This technique overcomes limitations of previous methods, enabling complex geometries and robust damage repair for advanced soft robotic applications.