Research on Embedded 3D Printing for Magnetic Soft Robots

Abstract

Traditional 3D printing technology is difficult to fabricate soft robots with complex structures and functions. However, embedded 3D printing technology has the ability to fabricate complex structures, including sensors, actuators, control system and power system integrated with soft robots. In this paper, based on the developed embedded direct inkjet 3D printing system, the magnetic slurry is printed inside Ecoflex materials to fabricate magnetically driven soft robots. Firstly, Comsol was used to study the rheological properties and viscosity properties of printing materials. Secondly, the optimal printing parameters are determined by the material ratio, mechanical stretching and 3D printing parameter experiments; Finally, the magnetic inchworm and gecko soft robots were printed by the determined optimal parameter, and bionic experiments were performed to verify the feasibility of integrated manufacturing of embedded 3D printing soft robots.