Tiled Auxetic Cylinders for Soft Robots

Simons, Melanie F.; Digumarti, Krishna Manaswi; Conn, Andrew T.; Rossiter, Jonathan

doi:10.1109/robosoft.2019.8722742

Cited by 15 publications

(4 citation statements)

References 28 publications

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“…Others have developed re-entrant compliant structures, e.g., tiled auxetic cylinders, for soft robots emphasizing that such structures can passively conform to mediums they interact with as a consequence of their complex but tunable mechanics. [36] Several research groups have recently leveraged ideas from kirigami to program complex motions and functionalities into soft robotic actuators. [13,[37][38][39][40][41] Kirigami skins have also found use in sensory applications as an emerging technology in soft robotics.…”

Section: Doi: 101002/adem202300583mentioning

confidence: 99%

Modular Soft Robotic Actuators from Flexible Perforated Sheets

2023

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Soft robotic actuators can be designed to achieve complex and tailored motions while simultaneously leveraging their compliance to interact with complex and often delicate environments. Mechanical metamaterials reveal a route to customizable deformations, force exertion, and mechanical energy efficiency attainable by careful arrangement of local geometric features. Herein, modular soft robotic actuators are developed from soft elastomers and flexible thermoplastic sheets of various unit cell designs. The efforts are focused on center‐symmetric perforated sheets, which are formed into flexible cylindrical skins that surround the soft inflatable actuators. The results demonstrate the influence of perforation geometry on the spatial stiffness of the reinforcement structure and the proposed actuators’ response through several investigations. It is demonstrated that the free‐boundary displacement, maximal force exertion, and mechanical energy efficiency of extensile actuators are dependent on a change of deformation mode in the mesostructure. The spatial stiffness concept is extended to develop soft robotic actuators that can bend, twist, and perform hybrid motions, such as simultaneous bending and twisting. Multisegment soft robotic arms are also developed from the aforementioned actuators. Investigations in this study provide a step toward the development of highly customizable and programmable soft robotic actuators for various applications.

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Section: Doi: 101002/adem202300583mentioning

confidence: 99%

Modular Soft Robotic Actuators from Flexible Perforated Sheets

2023

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“…Auxetic behavior (aka negative Poisson's ratio) refers to the unique response that a structure or material can expand, rather than shrink, in the direction perpendicular to an external extension load. Auxetic materials have found numerous applications in electronics, [ 32 ] metamaterials, [ 33 , 34 , 35 ] robotics, [ 36 , 37 , 38 ] architecture, [ 39 ] and biomedicine. [ 40 ] There are two different mechanisms for the kirigami sheet to generate auxetic properties.…”

Section: Unique Mechanical Properties Induced By Kirigami Cuttingmentioning

confidence: 99%

Engineering by Cuts: How Kirigami Principle Enables Unique Mechanical Properties and Functionalities

et al. 2022

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Kirigami, the ancient art of paper cutting, has evolved into a design and fabrication framework to engineer multi‐functional materials and structures at vastly different scales. By slit cutting with carefully designed geometries, desirable mechanical behaviors—such as accurate shape morphing, tunable auxetics, super‐stretchability, buckling, and multistability—can be imparted to otherwise inflexible sheet materials. In addition, the kirigami sheet provides a versatile platform for embedding different electronic and responsive components, opening up avenues for building the next generations of metamaterials, sensors, and soft robotics. These promising potentials of kirigami‐based engineering have inspired vigorous research activities over the past few years, generating many academic publications. Therefore, this review aims to provide insights into the recent advance in this vibrant field. In particular, this paper offers the first comprehensive survey of unique mechanical properties induced by kirigami cutting, their underlying physical principles, and their corresponding applications. The synergies between design methodologies, mechanics modeling, advanced fabrication, and material science will continue to mature this promising discipline.

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“…Many articles have been published on the design of actuators based on the principles of auxetic mechanisms [19], conventional robot structural elements [14], as well as soft robots and structures [20][21][22][23]. Researchers have been exploring metamaterials that exhibit auxeticity and their applications [24][25][26].…”

Section: Previous Workmentioning

confidence: 99%

Compliant Mechanism Soft Robot Design and Peristaltic Movement Optimization Using Random Search

Páramo-Carranza

López-González

Tejada

2022

Journal of Robotics

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In this article, we use the concept of auxetic structures as inspiration for the design of a compliant mechanism that allows the integration of a soft robot whose movement is based on the peristaltic movements of invertebrates. The TPU mechanism allows for smooth movement of the robot using only two servo motors. To guarantee maximum displacement, a time and angle optimization procedure using photogrammetry and random search was carried out, allowing the advance distance of the soft robot to be maximized.

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Tiled Auxetic Cylinders for Soft Robots

Cited by 15 publications

References 28 publications

Modular Soft Robotic Actuators from Flexible Perforated Sheets

Modular Soft Robotic Actuators from Flexible Perforated Sheets

Engineering by Cuts: How Kirigami Principle Enables Unique Mechanical Properties and Functionalities

Compliant Mechanism Soft Robot Design and Peristaltic Movement Optimization Using Random Search

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