Static and dynamic properties investigation of new generation of transversal artificial muscle

Koter, Katarzyna; Fracczak, Lukasz; Anna, Wojtczak; Bryl-Nagorska, Barbara; Mizejewski, Adrian; Sawicki, Adam

doi:10.1109/mmar.2017.8046915

Cited by 2 publications

(2 citation statements)

References 9 publications

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“…The soft robots can be actively used in health care and biology, especially because they can come into contact with living organisms without hurting them [4]. For this purpose, an actuator, which is a basic component of soft robots, should have the following basic features; (1) the material used to construct the actuator should be biocompatible [5]; (2) the method of operation should also be harmless to the living body; and (3) to be able to handle microscopic objects such as cells and tissues, an actuator has to be built at a microscopic resolution and also has to be shaped in three dimensions, i.e. beyond just two dimensions, to achieve excellent operational performance [6].…”

Section: Introductionmentioning

confidence: 99%

Biocompatible micro, soft bellow actuator rapidly manufactured using 3D-printed soluble mold

Jung

Han

Hwang

2019

J. Micromech. Microeng.

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A micro, soft bellow actuator, which is fabricated using a biocompatible material (polydimethylsiloxane (PDMS)) and operates in a pneumatic manner that is harmless to the living body, has been experimentally validated using 3D-printed soluble molds and supports. Typical planar microfabrication techniques for flexible pneumatic actuators with complex geometries generally have inherent design limitations owing to the manner in which 2D thin films are stacked and require multiple lithographic and alignment steps. In this study, micro bellow actuators with 3D structures that cannot be fabricated using the existing softlithography techniques were designed by simulating the mechanical behavior of the actuator based on the nonlinear elastic properties of PDMS. The subsequently designed 3D-printed soluble-mold technique was used to fabricate the bellow actuators with a 10 µm resolution, while taking into consideration the printing quality, which depends on the printing direction and layer thickness of the 3D printer. On evaluating the operating performance, the micro bellow actuator showed a displacement of 1540 µm at the applied pneumatic pressure of 60 kPa and can apply a force of 0.14 N. Even after 10 000 repetitive operations, the change in the operating characteristic was less than 0.44%. It was also demonstrated that fast prototyping of actuators within 48 h is possible without any process revision, even with variable design changes or other soft polymer materials. The reported fabrication technique is a superior approach for fabricating 3D, sealed, soft pneumatic actuators for micro, soft robot applications.

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Section: Introductionmentioning

confidence: 99%

Biocompatible micro, soft bellow actuator rapidly manufactured using 3D-printed soluble mold

Jung

Han

Hwang

2019

J. Micromech. Microeng.

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“…Future development of the robot should include designing a lead section that would allow the robot to cross tall obstacles. Furthermore, it is worth testing the effect of different drive units, such as transverse muscles, on the velocity of the robot [14].…”

Section: Discussionmentioning

confidence: 99%

Archive of Mechanical Engineering

Fracczak¹,

Olejniczak²,

Podsedkowski³

2019

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Long-range snake-like robot powered by pneumatic McKibben musclesContemporary research on mobile robotics aims at designing robots that will be able to traverse an extremely varied environment. One of the most universal modes of locomotion is the serpentine movement. A majority of modern snake-like robots use electric drives. This study presents a snake-like robot made out of McKibben muscles. Using a pneumatic cable with muscles arranged in series, it is possible to create a robot of any length, limited only by the length of the muscle cables. Because the control system and the body of the robot are separate, the robot can be used for rescue missions involving high risk of explosion of flammable substances and for missions taking place on extremely difficult terrain.

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Static and dynamic properties investigation of new generation of transversal artificial muscle

Cited by 2 publications

References 9 publications

Biocompatible micro, soft bellow actuator rapidly manufactured using 3D-printed soluble mold

Biocompatible micro, soft bellow actuator rapidly manufactured using 3D-printed soluble mold

Archive of Mechanical Engineering

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