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Rapid Manufacturing of Thin Soft Pneumatic Actuators and Robots
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Tool changing 3D printer for rapid prototyping of advanced soft robotic elements.

Stefan Conrad1,2, Thomas Speck1,2,3, Falk J Tauber1,2

  • 1Plant Biomechanics Group (PBG) Freiburg, Botanic Garden of the University of Freiburg, Germany.

Bioinspiration & Biomimetics
|June 8, 2021
PubMed
Summary

This study introduces a novel multi-material 3D printer for soft robotics, enabling the creation of complex pneumatic actuators. The developed platform allows for rapid prototyping of adaptable and sensitive soft robotic elements.

Keywords:
biomimeticsmulti-material 3D printeron-demand tool changepneumatic actuatorssoft robotics

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Area of Science:

  • Soft robotics
  • 3D printing
  • Materials science

Background:

  • Pneumatic elements are crucial in soft robotics for their adaptability.
  • Current 3D printing methods struggle with fabricating airtight soft robotic components and controlling material stiffness.

Purpose of the Study:

  • To develop a multi-material 3D printing platform for rapid prototyping of pneumatic soft robotic actuators.
  • To overcome limitations in fabricating airtight structures and controlling material properties.

Main Methods:

  • Construction of a tool-changing, multi-material 3D printer.
  • Utilized filaments of varying stiffness (Shore A70 and D65 thermoplastic polyurethane).
  • Developed a novel flow rate adaptation procedure for fabricating thin, vertically printed membranes (500 μm).

Main Results:

  • Successfully produced a series of pneumatic actuators with integrated flexible and stiff components.
  • Achieved fabrication of ultra-thin (500 μm) flexible membranes.
  • Demonstrated actuation of bending and expanding structures at pressures ≤ 100 kPa.
  • Designed a customizable generic actuator capable of complex motion.

Conclusions:

  • The developed 3D printing platform significantly advances the rapid prototyping of soft robotic elements.
  • The platform enables the creation of customized, high-performance pneumatic actuators for diverse applications.
  • This technology holds high potential for future research and production in soft robotics and pressurized systems.