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A Versatile 3D-Printable Soft Pneumatic Actuator Design for Multi-Functional Applications in Soft Robotics
Palpolage Don Shehan Hiroshan Gunawardane1, Phoebe Cheung1, Hao Zhou2
1Department of Mechanical Engineering, The University of British Columbia, Vancouver, Canada.
Soft Robotics
|April 10, 2024
Summary
This study introduces a versatile, 3D-printable soft pneumatic actuator (SPA) design. This adaptable SPA can be scaled and reconfigured for diverse applications without structural changes, enhancing soft robotics capabilities.
Area of Science:
- Robotics
- Materials Science
- Mechanical Engineering
Background:
- Soft pneumatic actuators (SPAs) are vital for soft robotic systems but often lack design versatility.
- Existing SPA designs typically require substantial modifications for new applications.
Purpose of the Study:
- To propose a novel, omni-purpose, and fully 3D-printable soft pneumatic actuator (SPA).
- To demonstrate the adaptability and multi-application potential of the new SPA design without structural modifications.
Main Methods:
- A spring-like zig-zag structure was designed and 3D-printed using thermoplastic polyurethane.
- The SPA's performance was characterized for extension, bending, and blocking force at a specified pressure.
- The design's scalability and reconfigurability were explored for interconnected systems.
Main Results:
- The 3D-printable SPA achieved 30% unidirectional extension and 100° bidirectional bending.
- It generated a 10 N blocking force at 350 kPa input pressure.
- The SPA was successfully tested in multiple applications including a gripper, artificial muscles, a navigator, and a crawler.
Conclusions:
- The proposed SPA design offers a versatile and adaptable solution for soft robotics.
- Its 3D-printable nature and reconfigurable capabilities make it suitable for a wide range of applications.
- This design overcomes the limitations of application-specific SPA structures.
