Abstract
A simple and cost-effective method for the patterning and fabrication of soft polymer microactuators integrated with morphological computation is presented. The microactuators combine conducting polymers to provide the actuation, with spatially designed structures for a morphologically controlled, user-defined actuation. Soft lithography is employed to pattern and fabricate polydimethylsiloxane layers with geometrical pattern, for use as a construction element in the microactuators. These microactuators could obtain multiple bending motions from a single fabrication process depending on the morphological pattern defined in the final step. Instead of fabricating via conventional photolithography route, which involves multiple steps with different chromium photomasks, this new method uses only one single design template to produce geometrically patterned layers, which are then specifically cut to obtain multiple device designs. The desired design of the actuator is decided in the final step of fabrication. The resulting microactuators generate motions such as a spiral, screw, and tube, using a single design template.
Highlights
Microrobots are being developed for applications and tasks in the sub-millimeter domain, such as manipulation of small, biological objects and microsurgery
Assuming the Young’s modulus and Poisson’s ratio being constant for each layer in the actuator[48,50] (PPy, Au, and PDMS in this case), the thickness (t) of each layer plays a vital role in determining the deflection (d) during actuation through the moment of inertia I of a beam with width w, thickness t, and Young’s modulus E (Eq 1): 1=d $ E I 1⁄4 Ewt3=12: ð1Þ
The bending angle is nearly negligible with PDMS layers over 140 μm for the PPy thickness up to 30 μm
Summary
Microrobots are being developed for applications and tasks in the sub-millimeter domain, such as manipulation of small, biological objects and microsurgery. Miniaturization is highly desirable, shrinking conventional robots with their discrete actuation, control, and moving parts is challenging and too complex to realize. Recent work, where researchers developed molecular robots using natural proteins as actuator and control system[1], demonstrates that developing actuators with multiple embedded properties provides a feasible approach to miniaturize robots while retaining their complex and efficient functionality. Soft actuators or artificial muscles have been contributing to the progress of robotics, allowing for the fabrication of scalable and flexible robotic systems[2,3,4,5]. Made up of compliant materials like artificial muscles, extend the adaptability in applications requiring
Sign-in/Register to view highlights & summary Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
