Silicon-based soft parallel robots 4D printing and multiphysics analysis

Abstract

Four-dimensional (4D) printing has set the stage for a new generation of soft robotics. The applications of rigid planar parallel robotic manipulators are also significant because of their various desirable characteristics, such as lower inertia, higher payload, and high accuracy. However, rigid planar parallel robots are heavy and require different actuators and components. This study introduces a novel technique to produce a light three degrees of freedom (DOF) soft parallel manipulator at a low cost, which can be stimulated easily. This technique allows researchers to customize the actuator’s design based on the requirement. The robot is made by 3D printing based on fused deposition modelling (FDM) and a direct ink writing (DIW) process. The design, development, and additive manufacturing (AM) of a soft parallel robot electrothermally driven by a linear silicon-based actuator and polylactic acid (PLA) parts are presented. Silicon-based soft actuators replace the rigid conventional linear actuators in this study to drive the planar parallel manipulator. The actuation of actuators is conducted using simple heating compared to the conventional rigid actuator. Various heating approaches and configurations are compared and analysed to find the most suitable one for the effective linear stroke of the soft actuator. The finite element model (FEM) is used to analyse the performance of the electrothermally silicon-ethanol soft actuators in ABAQUS. The kinematics of the planar parallel robotic manipulator are simulated in MATLAB to achieve its workspace. The final soft parallel robot mechanism and the active and passive links are fabricated and tested experimentally.

4D printing parameters optimisation for bi-stable soft robotic gripper design

“…1, due to its fast actuation mechanism. The 4D printing procedure is the same as earlier work of authors [14,17]. Based on this characteristic, these actuators can be effectively used in soft robotic grippers, as the variation in curvature of the structure can be considered an appropriate parameter for the effective deformation calculation of pre-strained bilayer structures.…”

Shape memory meta-laminar jamming actuators fabricated by 4D printing

“…8 These adaptive and dynamic actuators are constructed from a variety of smart materials like shape memory polymers (SMPs) and shape memory alloys. 9,10 Soft actuators are divided into numerous subgroups such as fluidicdriven, 11,12 thermo-driven, 13,14 electro-driven, 15,16 pH-driven, 17 light-driven, 18 and magneto-driven actuators. 19,20 Soft actuators made from 4DP technology have been widely used in different industries from manufacturing to biomedical sectors.…”

“…His research has also resulted in the publication of over 180 scientific papers in prestigious journals as well as the presentation of his work at major international conferences. Mahdi has also served as Chairman and member of Scientific Committees for16 International Conferences, as Guest Editor for 10 Journals, as Editorial Board Member for 10 scientific Journals, and as Reviewer for over 150 Journals. Mahdi's research awards include the Best Doctoral Thesis Award of 2015, 2016 CUHK Postdoctoral Fellowship, the Annual Best Paper Award in Mechanics and Material Systems presented by the American Society of Mechanical Engineers in 2017, 2018 Horizon Fellowship Award, and 2021 IJPEM-GT Contribution Award recognized by the Korea Society for Precision Engineering.…”

Magnetically controlled bio-inspired elastomeric actuators with high mechanical energy storage

“…Soft actuators are capable of being manufactured with ease and have an inherent compliance. [14][15][16] These actuators may flex, rotate, expand, or contract with a wide range of shape morphing. [17][18][19] Robustness and controllability stand out among other typical performance requirements as important characteristics that should not be overlooked in the creation of a trustworthy robotic system.…”