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
2020 ◽  
Vol 2 (7) ◽  
pp. 2070072
Author(s):  
Kahraman G. Demir ◽  
Zhizhou Zhang ◽  
Jehan Yang ◽  
Grace X. Gu

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

2021 ◽  
pp. 112978
Author(s):  
MennaAllah Soliman ◽  
Mahmood Abdallah Saleh ◽  
Mostafa A. Mousa ◽  
Mahmoud Elsamanty ◽  
Ahmed Gomaa Radwan

2022 ◽  
Vol 8 ◽  
Author(s):  
Charbel Tawk ◽  
Rahim Mutlu ◽  
Gursel Alici

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.


Author(s):  
Martin Garcia ◽  
Amir Ali Amiri Moghadam ◽  
Ayse Tekes ◽  
Randy Emert

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.


2020 ◽  
Vol 2 (7) ◽  
pp. 2000013 ◽  
Author(s):  
Kahraman G. Demir ◽  
Zhizhou Zhang ◽  
Jehan Yang ◽  
Grace X. Gu

2020 ◽  
Vol 8 (5_suppl4) ◽  
pp. 2325967120S0029
Author(s):  
Korbinian Glatzeder ◽  
Igor Komnik ◽  
Wolfgang Potthast

Aims and Objectives: What is the effect of polycarbonate-urethane (PU) interpositional knee spacers on load distribution in 3D printed knee models and can this be a potential treatment for knee osteoarthrosis (KOA)? KOA accounts for 83% of the total OA burden associated with tremendous physical and mental limitations in patients’ lives, but also with an enormous impact on health care systems worldwide [1]. An interpositional mimicked knee spacer could serve as an additional treatment in patients with medial KOA and postpone more invasive treatment options. To date, existing spacers failing to reveal satisfactory results, primarily due to dislocation and methodological issues [2, 3]. This study aimed to examine whether and to what extent a set of differently shaped PU-spacers can reduce stress in the medial knee compartment. Materials and Methods: A knee simulator was utilized to investigate the knee joint loading via pneumatic actuators with and without the insertion of four different spacer types into the medial compartment of six 3D printed knee models (material: PLA). The knee models corresponded to six cadaveric right limbs, which were segmented from CT-scans to create CAD models using a reverse engineering approach (Figure 1). Figure 1: Depiction of the performed work sections. The loading conditions were performed by applying simulated muscle forces (quadriceps: 700 N, hamstrings: 250) induced by pneumatic actuators. Joint contact stress and stress distribution were determined using Tekscan Pressure Mapping Sensors 4000 (50 Hz, Tekscan Inc., South Boston, USA). Thirty cycles of flexion-extension motion were recorded between 180-90° with each spacer-type in the each printed knee model. Results: All spacer types showed reduced mean stress values by 71-75% compared to the no-spacer test condition (Figure 2a, b). This result was associated with a redistribution of the acting force to a larger area (+145-295%) induced by the corresponding spacer-type. Figure 2: a) Time series representing the mean stress curve progressions for all test conditions b) Exemplary peak stress distribution map for no-spacer and spacer M1f125 condition. The mentioned relationship exhibits the major functional principal of the mimicked knee spacer, namely to reduce knee joint loads, hence providing pain relief in the osteoarthritic knee. Conclusion: The results of the current study demonstrate that a knee spacer could theoretically complement the common treatment options for KOA, avoiding loss of bone, preserving the natural bone stock, reducing pain, and extending the time to one of the other treatment methods without compromising the patient’s future knee replacement. However, several major aspects must be considered in future studies including, e.g. spacer geometry, testing in cadaveric knees, higher acting forces and limb kinematics. References [1] Vos T et al. (2012). Lancet, 380: 2163-2196. [2] Bailie AG et al. (2008). J Bone Joint Surg Br, 90: 446-450. [3] Shemesh M et al. (2014). J Mech Behav Bi


Actuators ◽  
2020 ◽  
Vol 9 (1) ◽  
pp. 3 ◽  
Author(s):  
James Walker ◽  
Thomas Zidek ◽  
Cory Harbel ◽  
Sanghyun Yoon ◽  
F. Sterling Strickland ◽  
...  

This paper focuses on the recent development of soft pneumatic actuators for soft robotics over the past few years, concentrating on the following four categories: control systems, material and construction, modeling, and sensors. This review work seeks to provide an accelerated entrance to new researchers in the field to encourage research and innovation. Advances in methods to accurately model soft robotic actuators have been researched, optimizing and making numerous soft robotic designs applicable to medical, manufacturing, and electronics applications. Multi-material 3D printed and fiber optic soft pneumatic actuators have been developed, which will allow for more accurate positioning and tactile feedback for soft robotic systems. Also, a variety of research teams have made improvements to soft robot control systems to utilize soft pneumatic actuators to allow for operations to move more effectively. This review work provides an accessible repository of recent information and comparisons between similar works. Future issues facing soft robotic actuators include portable and flexible power supplies, circuit boards, and drive components.


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