A Recipe for Soft Fluidic Elastomer Robots
This work provides approaches to designing and fabricating soft fluidic elastomer robots. That is, three viable actuator morphologies composed entirely from soft silicone rubber are explored, and these morphologies are differentiated by their internal channel structure, namely, ribbed, cylindrical,...
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| Format: | Article |
| Language: | en_US |
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Mary Ann Liebert
2017
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| Online Access: | http://hdl.handle.net/1721.1/107819 https://orcid.org/0000-0001-7143-7259 https://orcid.org/0000-0001-5473-3566 |
| _version_ | 1811088477593272320 |
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| author | Marchese, Andrew Dominic Katzschmann, Robert Kevin Rus, Daniela L |
| author2 | Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory |
| author_facet | Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory Marchese, Andrew Dominic Katzschmann, Robert Kevin Rus, Daniela L |
| author_sort | Marchese, Andrew Dominic |
| collection | MIT |
| description | This work provides approaches to designing and fabricating soft fluidic elastomer robots. That is, three viable actuator morphologies composed entirely from soft silicone rubber are explored, and these morphologies are differentiated by their internal channel structure, namely, ribbed, cylindrical, and pleated. Additionally, three distinct casting-based fabrication processes are explored: lamination-based casting, retractable-pin-based casting, and lost-wax-based casting. Furthermore, two ways of fabricating a multiple DOF robot are explored: casting the complete robot as a whole and casting single degree of freedom (DOF) segments with subsequent concatenation. We experimentally validate each soft actuator morphology and fabrication process by creating multiple physical soft robot prototypes. |
| first_indexed | 2024-09-23T14:02:46Z |
| format | Article |
| id | mit-1721.1/107819 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2024-09-23T14:02:46Z |
| publishDate | 2017 |
| publisher | Mary Ann Liebert |
| record_format | dspace |
| spelling | mit-1721.1/1078192022-10-01T18:48:47Z A Recipe for Soft Fluidic Elastomer Robots Marchese, Andrew Dominic Katzschmann, Robert Kevin Rus, Daniela L Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory Massachusetts Institute of Technology. Department of Mechanical Engineering Marchese, Andrew Dominic Katzschmann, Robert Kevin Rus, Daniela L This work provides approaches to designing and fabricating soft fluidic elastomer robots. That is, three viable actuator morphologies composed entirely from soft silicone rubber are explored, and these morphologies are differentiated by their internal channel structure, namely, ribbed, cylindrical, and pleated. Additionally, three distinct casting-based fabrication processes are explored: lamination-based casting, retractable-pin-based casting, and lost-wax-based casting. Furthermore, two ways of fabricating a multiple DOF robot are explored: casting the complete robot as a whole and casting single degree of freedom (DOF) segments with subsequent concatenation. We experimentally validate each soft actuator morphology and fabrication process by creating multiple physical soft robot prototypes. National Science Foundation (U.S.) (Grants NSF 1117178, NSF IIS1226883, and NSF CCF1138967) National Science Foundation (U.S.). Graduate Research Fellowship Program (Award 1122374) 2017-04-03T15:01:04Z 2017-04-03T15:01:04Z 2015-03 Article http://purl.org/eprint/type/JournalArticle 2169-5172 2169-5180 http://hdl.handle.net/1721.1/107819 Marchese, Andrew D., Robert K. Katzschmann, and Daniela Rus. “A Recipe for Soft Fluidic Elastomer Robots.” Soft Robotics 2, no. 1 (March 2015): 7–25. https://orcid.org/0000-0001-7143-7259 https://orcid.org/0000-0001-5473-3566 en_US http://dx.doi.org/10.1089/soro.2014.0022 Soft Robotics Creative Commons Attribution 4.0 International License http://creativecommons.org/licenses/by/4.0/ application/pdf Mary Ann Liebert Mary Ann Liebert |
| spellingShingle | Marchese, Andrew Dominic Katzschmann, Robert Kevin Rus, Daniela L A Recipe for Soft Fluidic Elastomer Robots |
| title | A Recipe for Soft Fluidic Elastomer Robots |
| title_full | A Recipe for Soft Fluidic Elastomer Robots |
| title_fullStr | A Recipe for Soft Fluidic Elastomer Robots |
| title_full_unstemmed | A Recipe for Soft Fluidic Elastomer Robots |
| title_short | A Recipe for Soft Fluidic Elastomer Robots |
| title_sort | recipe for soft fluidic elastomer robots |
| url | http://hdl.handle.net/1721.1/107819 https://orcid.org/0000-0001-7143-7259 https://orcid.org/0000-0001-5473-3566 |
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