摘要
Soft pneumatic actuators(SPAs)have attracted enormous attention in the growing field of robotics.Among different SPAs,composite reinforced actuators(CRAs)are widely used because of their simple structure and high controllability.However,multistep molding,a time-consuming method,is still the predominant fabrication method.Here,we propose a multimaterial embedded printing method(ME3P)to fabricate CRAs.In comparison with other 3-dimensional printing methods,our method improves fabrication flexibility greatly.Via the design and fabrication of the reinforced composites’patterns and different geometries of the soft body,we demonstrate actuators with programmable responses(elongation,contraction,twisting,bending,and helical and omnidirectional bending).Finite element analysis is employed for the prediction of pneumatic responses and the inverse design of actuators based on specific actuation needs.Lastly,we use tube-crawling robots as a model system to demonstrate our ability to fabricate complex soft robots for practical applications.This work demonstrates the versatility of ME3P for the future manufacturing of CRA-based soft robots.
出处
《Research》
SCIE
EI
CSCD
2023年第4期727-737,共11页
研究(英文)
基金
The authors are grateful for the financial support for this research by the Zhejiang Provincial Key R&D Program of China(2021C03157)
the National Natural Science Foundation of China(No.51905446)
Guangdong Provincial Key R&D Program of 2021 Ocean Six Industrial Project(2021-45)
Scientific Research Funding Project of Westlake University(2021WUFP017)
the Startup funding of New-joined PI of Westlake University(041030150118)。