TY - GEN
T1 - Hybrid fabrication of a soft bending actuator with casting and additive manufacturing
AU - Oliveira, Marcos B.
AU - Long, Philip
AU - Lurie, Alexander
AU - Padir, Taskin
AU - Ewen, David
AU - Felton, Samuel M.
N1 - Publisher Copyright:
Copyright © 2019 ASME.
PY - 2019
Y1 - 2019
N2 - In this paper, we present the design, modeling and, fabrication of a soft bending actuator that combines casting techniques and additive manufacturing. We performed tests to evaluate the bending actuator’s angular deflection and tip force. We demonstrated flexibility in the process by varying the bladder material. We also showed the actuator’s resilience to damage by cutting and puncturing the exoskeleton prior to operation. Finally, we integrated the bending actuator into a three-finger gripper configuration and performed a gripping test for four different objects with various weights and shapes. Results show that the curvature and force obtained in these actuators are comparable to other proposed bending actuators with a faster and more adaptable fabrication process. With these results we demonstrate that fast, effective, and versatile fabrication of soft robotic components can be attained by combining casting and additive manufacturing techniques.
AB - In this paper, we present the design, modeling and, fabrication of a soft bending actuator that combines casting techniques and additive manufacturing. We performed tests to evaluate the bending actuator’s angular deflection and tip force. We demonstrated flexibility in the process by varying the bladder material. We also showed the actuator’s resilience to damage by cutting and puncturing the exoskeleton prior to operation. Finally, we integrated the bending actuator into a three-finger gripper configuration and performed a gripping test for four different objects with various weights and shapes. Results show that the curvature and force obtained in these actuators are comparable to other proposed bending actuators with a faster and more adaptable fabrication process. With these results we demonstrate that fast, effective, and versatile fabrication of soft robotic components can be attained by combining casting and additive manufacturing techniques.
UR - http://www.scopus.com/inward/record.url?scp=85076468575&partnerID=8YFLogxK
U2 - 10.1115/DETC2019-97842
DO - 10.1115/DETC2019-97842
M3 - Conference contribution
AN - SCOPUS:85076468575
T3 - Proceedings of the ASME Design Engineering Technical Conference
BT - 43rd Mechanisms and Robotics Conference
PB - American Society of Mechanical Engineers (ASME)
T2 - ASME 2019 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC-CIE 2019
Y2 - 18 August 2019 through 21 August 2019
ER -