scholarly journals Computational and Experimental Design Exploration of 3D‐Printed Soft Pneumatic Actuators

2020 ◽  
Vol 2 (7) ◽  
pp. 2070072
Author(s):  
Kahraman G. Demir ◽  
Zhizhou Zhang ◽  
Jehan Yang ◽  
Grace X. Gu
Keyword(s):  
Experimental Design ◽  
Design Exploration ◽  
Pneumatic Actuators ◽  
3D Printed

scholarly journals Computational and Experimental Design Exploration of 3D‐Printed Soft Pneumatic Actuators

2020 ◽  
Vol 2 (7) ◽  
pp. 2000013 ◽  
Author(s):  
Kahraman G. Demir ◽  
Zhizhou Zhang ◽  
Jehan Yang ◽  
Grace X. Gu
Keyword(s):  
Experimental Design ◽  
Design Exploration ◽  
Pneumatic Actuators ◽  
3D Printed

scholarly journals Geometry-Based Customization of Bending Modalities for 3D-Printed Soft Pneumatic Actuators

2018 ◽  
Vol 3 (4) ◽  
pp. 3489-3496 ◽  
Author(s):  
Luca Rosalia ◽  
Benjamin Wee-Keong Ang ◽  
Raye Chen-Hua Yeow
Keyword(s):  
Pneumatic Actuators ◽  
3D Printed

Theoretical and Experimental Investigation study of Data Driven Work Envelope Modelling for 3D Printed Soft Pneumatic Actuators

2021 ◽  
pp. 112978
Author(s):  
MennaAllah Soliman ◽  
Mahmood Abdallah Saleh ◽  
Mostafa A. Mousa ◽  
Mahmoud Elsamanty ◽  
Ahmed Gomaa Radwan
Keyword(s):  
Experimental Investigation ◽  
Data Driven ◽  
Pneumatic Actuators ◽  
3D Printed ◽  
Work Envelope

Design Exploration of 3D-Printed Triply Periodic Minimal Surface Scaffolds for Bone Implants

2021 ◽  
pp. 106762
Author(s):  
Teerapong Poltue ◽  
Chatchai Karuna ◽  
Suppakrit Khrueaduangkham ◽  
Saran Seehanam ◽  
Patcharapit Promoppatum
Keyword(s):  
Minimal Surface ◽  
Bone Implants ◽  
Design Exploration ◽  
Periodic Minimal Surface ◽  
Triply Periodic ◽  
Triply Periodic Minimal Surface ◽  
3D Printed

scholarly journals A 3D Printed Modular Soft Gripper Integrated With Metamaterials for Conformal Grasping

2022 ◽  
Vol 8 ◽  
Author(s):  
Charbel Tawk ◽  
Rahim Mutlu ◽  
Gursel Alici
Keyword(s):  
Contact Pressure ◽  
Fused Deposition Modeling ◽  
Low Cost ◽  
Three Dimensional ◽  
Single Step ◽  
Positive Pressure ◽  
Pneumatic Actuators ◽  
Fused Deposition ◽  
3D Printed ◽  
And Performance

A single universal robotic gripper with the capacity to fulfill a wide variety of gripping and grasping tasks has always been desirable. A three-dimensional (3D) printed modular soft gripper with highly conformal soft fingers that are composed of positive pressure soft pneumatic actuators along with a mechanical metamaterial was developed. The fingers of the soft gripper along with the mechanical metamaterial, which integrates a soft auxetic structure and compliant ribs, was 3D printed in a single step, without requiring support material and postprocessing, using a low-cost and open-source fused deposition modeling (FDM) 3D printer that employs a commercially available thermoplastic poly (urethane) (TPU). The soft fingers of the gripper were optimized using finite element modeling (FEM). The FE simulations accurately predicted the behavior and performance of the fingers in terms of deformation and tip force. Also, FEM was used to predict the contact behavior of the mechanical metamaterial to prove that it highly decreases the contact pressure by increasing the contact area between the soft fingers and the grasped objects and thus proving its effectiveness in enhancing the grasping performance of the gripper. The contact pressure can be decreased by up to 8.5 times with the implementation of the mechanical metamaterial. The configuration of the highly conformal gripper can be easily modulated by changing the number of fingers attached to its base to tailor it for specific manipulation tasks. Two-dimensional (2D) and 3D grasping experiments were conducted to assess the grasping performance of the soft modular gripper and to prove that the inclusion of the metamaterial increases its conformability and reduces the out-of-plane deformations of the soft monolithic fingers upon grasping different objects and consequently, resulting in the gripper in three different configurations including two, three and four-finger configurations successfully grasping a wide variety of objects.

Development of a 3D Printed Soft Parallel Robot

2020 ◽  
Author(s):  
Martin Garcia ◽  
Amir Ali Amiri Moghadam ◽  
Ayse Tekes ◽  
Randy Emert
Keyword(s):  
Degrees Of Freedom ◽  
Position Control ◽  
Kinematic Model ◽  
Parallel Robot ◽  
Molding Process ◽  
Pneumatic Actuators ◽  
Kinematics Modeling ◽  
Rigid Body Model ◽  
3D Printed ◽  
Soft Actuators

Abstract This paper reports on design, fabrication, and kinematics modeling of a 3D printed soft parallel robot equipped with soft pneumatic actuators. Soft robotics is an emerging field of research which facilitates safe human machine interface. Soft elastomeric actuators made through molding process are one of the key elements of soft robotic systems. However, molding process is tedious and time consuming making the fabrication process undesirable. Recently reported 3D printed soft pneumatic actuators pave the way for manufacturing of novel soft actuators and robots with complex geometries. The current work can be considered as a proof of concept for 3D printing of a soft parallel robot. The robot consists of two soft pneumatic actuators that are connected to two passive links by mean of flexible hinges. The robot has two degrees of freedom and can be used in planar manipulation tasks. Moreover, a number of robots can be configured to operate in a cooperative manner to increase the manipulation dexterity. A kinematic model is developed to simulate the motion of robot end-effector. Through application of the kinematic model it has been shown that the robot is capable of following any planar trajectories within its workspace. Also, pseudo-rigid-body model (PRBM) is used to develop a dynamic model of the soft robot to more accurately predict the robot interaction with its environment and also develop advanced control system for robust position control of the robot.

3D-Printed Omnidirectional Soft Pneumatic Actuators: Design, Modeling and Characterization

2021 ◽  
pp. 113199
Author(s):  
Matheus S. Xavier ◽  
Charbel D. Tawk ◽  
Yuen K. Yong ◽  
Andrew J. Fleming
Keyword(s):  
Pneumatic Actuators ◽  
3D Printed
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