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Negshell casting: 3D-printed structured and sacrificial cores for soft robot fabrication.
Pornthep Preechayasomboon1, Eric Rombokas1,2
1Mechanical Engineering, University of Washington, Seattle, WA, United States of America.
Plos One
|June 13, 2020
Summary
Negshell casting simplifies soft robot fabrication using 3D-printed cores. This novel technique reduces steps and enables integrated functionalities like fluidic channels and enhanced structural stiffness for advanced soft robotic applications.
Area of Science:
- Robotics
- Materials Science
- Manufacturing
Background:
- Traditional soft robot fabrication is labor-intensive and requires multiple steps.
- Existing methods often involve complex molding and demolding processes.
Purpose of the Study:
- Introduce negshell casting, a novel fabrication technique for soft robots.
- Reduce fabrication complexity and manual labor in soft robot manufacturing.
Main Methods:
- Developed negshell casting using 3D-printed sacrificial (negshell) and structural cores.
- Integrated cores into elastomer casting for fluidic channels, bellows, and structural reinforcement.
- Characterized mechanical properties of core-embedded silicone rubber specimens.
Main Results:
- Demonstrated successful fabrication of soft robotic components with integrated features.
- Showcased negshell casting in a single-joint soft robotic finger and a 6-DOF soft robotic gripper.
- Validated the technique's utility in force transmission and pick-and-place tasks.
Conclusions:
- Negshell casting offers a streamlined approach to soft robot fabrication.
- The technique enables the creation of complex soft robots with embedded functionalities.
- This method has broad applicability in developing advanced soft robotic systems.
