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Related Concept Videos

Mechanical Systems01:22

Mechanical Systems

191
Mechanical systems are analogous to to electrical networks where springs and masses play similar roles to inductors and capacitors, respectively. A viscous damper in mechanical systems functions similarly to a resistor in electrical networks, dissipating energy. The forces acting on a mass in such systems include an applied force in the direction of motion, counteracted by forces from the spring, a viscous damper, and the mass's acceleration. This interplay of forces is mathematically...
191

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Fabrication of Soft Pneumatic Network Actuators with Oblique Chambers
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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
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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.

Keywords:
3D-printed soft pneumatic actuatorsomni-purpose designs for soft pneumatic actuatorssoft artificial musclessoft crawling robots

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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.