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3D printed linear soft multi-mode actuators expanding robotic applications.

Ryan Drury1, Vitor Sencadas1,2,3, Gursel Alici1,2

  • 1School of Mechanical, Materials, Mechatronic and Biomedical Engineering and Applied Mechatronics and Bimedical Engineering Research (AMBER) Group, University of Wollongong, Wollongong, NSW 2522, Australia. gursel@uow.edu.au.

Soft Matter
|February 21, 2022
PubMed
Summary
This summary is machine-generated.

This study introduces a novel linear soft multi-mode actuator (LSOMMA) capable of extension and contraction. This 3D printed device demonstrates scalable, stable performance for advanced robotic applications.

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Area of Science:

  • Robotics and Materials Science
  • Soft Robotics
  • Additive Manufacturing

Background:

  • Soft pneumatic actuators offer compliance and high force-to-mass ratios but typically produce bending motions.
  • Limited soft actuators achieve significant linear motion or multi-directional strain.
  • Existing designs often lack scalability and long-term stability.

Purpose of the Study:

  • To develop and characterize a novel 3D printed actuator with bidirectional linear motion (extension and contraction).
  • To synthesize a new elastomeric resin suitable for Digital Light Processing (DLP) 3D printing.
  • To demonstrate the actuator's scalability, stability, and performance at low pressures.

Main Methods:

  • Synthesis of a novel elastomeric resin for DLP 3D printing.
  • Fabrication of a linear soft multi-mode actuator (LSOMMA).
  • Characterization of actuator performance including strain, pressure response, cycle life, and rise time.

Main Results:

  • The LSOMMA achieves -50% strain at -25 kPa (contraction) and 37% strain at 75 kPa (expansion).
  • The actuator demonstrates scalability and a stable response over >10,000 cycles.
  • Actuators exhibit a rise time under 250 ms and operate effectively at low pressures.

Conclusions:

  • The developed LSOMMA offers a promising solution for soft robotic systems requiring linear motion.
  • Demonstrated applications include pipe-crawling and ground locomotion robots with impressive mobility.
  • The technology holds potential for autonomous robotic applications across diverse environments and surfaces.