Abstract

 
 
 With the introduction of collaborative robots in production environments, the harm to workers by using traditional robots with rigid links is inherent. A new generation of robots made from flexible soft materials that decreases collision danger by self-deforming actions has been proposed as a promising solution for the human-robot collaboration environments. Recently, by the development of additive manufacture of elastic soft materials, new design opportunities arise for these so-called soft robots. However, robustness that is required for production environments is still not achieved. This paper presents a design approach of a fully additively manufactured three-axis soft pneumatic actuator. For its use in flexible soft robotic manipulator systems, design guidelines, a direct 3D printing process with elastic materials and a low-level PLC semi-automated pressure regulation control system are presented. To validate the proposed design, the actuator is manufactured and tested for maximum contact force, bending motion reaction and its signal response.
 
 
Highlights
By the development of additive manufacture of elastic soft materials, new design opportunities arise for these so-called soft robots
In this work we have presented a design approach for AM that show how a typical stepwise casting process for silicon materials can be avoided
The additive manufactured actuator was designed in consideration to being additively manufactured and actuated with a set of three internal PneuNet type chambers and channels
Summary
This work is focused on if and how a direct AM process can be applied for the fabrication of soft material bio inspired manipulators. We present an easy-to-build uni-body design approach for a modular, multi-body manipulator. In this context, AM enables substitution of several components by integration of their respective functionality. The differential design and construction as well as elaborate assembly steps of conventional manufacturing processes is avoided. We investigate how a design for AM affects the challenges related to this fabrication process and if such actuators can perform in production process environments. A prototype of a module is built and tested for maximum forces generated and the reaction of automated control signals. A two-element manipulator prototype is investigated for its motion response
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