Multi-material 3D printing of caterpillar-inspired soft crawling robots with the pneumatically bellow-type body and anisotropic friction feet

Sheng, X. D.; Xu, Hui; Zhang, Ningbin; Ding, Ningyuan; Zhu, Xiangyang; Gu, Guoying

doi:10.1016/j.sna.2020.112398

Cited by 35 publications

(20 citation statements)

References 23 publications

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“…Zhang et al ( Zhang et al, 2020 ) integrated bellows actuators manufactured by printing A30 and Vero materials to actuate the fingers of an anthropomorphic hand. These materials were also used by Sheng et al ( Sheng, et al, 2020 ) to realize a crawling robot with deformable bellows structure. Dämmer et al ( Dämmer et al, 2019a ) used A30 and T+ in combination with Vero materials to produce the linear bellows actuators shown in Figure 2A and investigated the effects of material and shape variations on their fatigue and deformation behavior.…”

Section: Introductionmentioning

confidence: 99%

Design of an Inkjet-Printed Rotary Bellows Actuator and Simulation of its Time-Dependent Deformation Behavior

et al. 2021

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State-of-the-art Additive Manufacturing processes such as three-dimensional (3D) inkjet printing are capable of producing geometrically complex multi-material components with integrated elastomeric features. Researchers and engineers seeking to exploit these capabilities must handle the complex mechanical behavior of inkjet-printed elastomers and expect a lack of suitable design examples. We address these obstacles using a pneumatic actuator as an application case. First, an inkjet-printable actuator design with elastomeric bellows structures is presented. While soft robotics research has brought forward several examples of inkjet-printed linear and bending bellows actuators, the rotary actuator described here advances into the still unexplored field of additively manufactured pneumatic lightweight robots with articulated joints. Second, we demonstrate that the complex structural behavior of the actuator’s elastomeric bellows structure can be predicted by Finite Element (FE) simulation. To this end, a suitable hyperviscoelastic material model was calibrated and compared to recently published models in a multiaxial-state-of-stress relaxation experiment. To verify the material model, Finite Element simulations of the actuator’s deformation behavior were conducted, and the results compared to those of corresponding experiments. The simulations presented here advance the materials science of inkjet-printed elastomers by demonstrating use of a hyperviscoelastic material model for estimating the deformation behavior of a prototypic robotic component. The results obtained contribute to the long-term goal of additively manufactured and pneumatically actuated lightweight robots.

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Section: Introductionmentioning

confidence: 99%

Design of an Inkjet-Printed Rotary Bellows Actuator and Simulation of its Time-Dependent Deformation Behavior

et al. 2021

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“…PETE film), which is very light in weight. On the other hand, the bellows used in robot are usually fabricated by 3D printing ( Sheng et al, 2020 ) or silicone molding ( Tang et al, 2020 ), which are more heavier in weight and diminish the 3D deformability of the robot.…”

Section: Discussionmentioning

confidence: 99%

Yoshimura-origami Based Earthworm-like Robot With 3-dimensional Locomotion Capability

2021

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Earthworm-like robots have received great attention due to their prominent locomotion abilities in various environments. In this research, by exploiting the extraordinary three-dimensional (3D) deformability of the Yoshimura-origami structure, the state of the art of earthworm-like robots is significantly advanced by enhancing the locomotion capability from 2D to 3D. Specifically, by introducing into the virtual creases, kinematics of the non-rigid-foldable Yoshimura-ori structure is systematically analyzed. In addition to exhibiting large axial deformation, the Yoshimura-ori structure could also bend toward different directions, which, therefore, significantly expands the reachable workspace and makes it possible for the robot to perform turning and rising motions. Based on prototypes made of PETE film, mechanical properties of the Yoshimura-ori structure are also evaluated experimentally, which provides useful guidelines for robot design. With the Yoshimura-ori structure as the skeleton of the robot, a hybrid actuation mechanism consisting of SMA springs, pneumatic balloons, and electromagnets is then proposed and embedded into the robot: the SMA springs are used to bend the origami segments for turning and rising motion, the pneumatic balloons are employed for extending and contracting the origami segments, and the electromagnets serve as anchoring devices. Learning from the earthworm’s locomotion mechanism--retrograde peristalsis wave, locomotion gaits are designed for controlling the robot. Experimental tests indicate that the robot could achieve effective rectilinear, turning, and rising locomotion, thus demonstrating the unique 3D locomotion capability.

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“…The evolution of nature over millions of years to develop high-performance biological structures provides ideas for human design of high-strength and tough materials [ 42 ]. They typically consist of hard and soft phases arranged in complex hierarchies with feature sizes ranging from nanoscale to macroscale [ 43 ]. The resulting materials are lightweight and often exhibit unique combinations of strength and toughness, but they are difficult to imitate synthetically, thus hindering the development of biomimetic designs.…”

Section: Applications Of 3d Printed Soft Materialsmentioning

confidence: 99%

3D Printing Soft Matters and Applications: A Review

Zhan

Guo

Cao

et al. 2022

IJMS

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The evolution of nature created delicate structures and organisms. With the advancement of technology, especially the rise of additive manufacturing, bionics has gradually become a popular research field. Recently, researchers have concentrated on soft robotics, which can mimic the complex movements of animals by allowing continuous and often responsive local deformations. These properties give soft robots advantages in terms of integration and control with human tissue. The rise of additive manufacturing technologies and soft matters makes the fabrication of soft robots with complex functions such as bending, twisting, intricate 3D motion, grasping, and stretching possible. In this paper, the advantages and disadvantages of the additive manufacturing process, including fused deposition modeling, direct ink writing, inkjet printing, stereolithography, and selective laser sintering, are discussed. The applications of 3D printed soft matter in bionics, soft robotics, flexible electronics, and biomedical engineering are reviewed.

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Multi-material 3D printing of caterpillar-inspired soft crawling robots with the pneumatically bellow-type body and anisotropic friction feet

Cited by 35 publications

References 23 publications

Design of an Inkjet-Printed Rotary Bellows Actuator and Simulation of its Time-Dependent Deformation Behavior

Design of an Inkjet-Printed Rotary Bellows Actuator and Simulation of its Time-Dependent Deformation Behavior

Yoshimura-origami Based Earthworm-like Robot With 3-dimensional Locomotion Capability

3D Printing Soft Matters and Applications: A Review

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