Strategies to Control Performance of 3D-Printed, Cable-Driven Soft Polymer Actuators: From Simple Architectures to Gripper Prototype
The following is a study of the performance of soft cable-driven polymer actuators produced by multimaterial 3D printing. We demonstrate that the mechanical response of the polymer actuator with an embedded cable can be flexibly tuned through the targeted selection of actuator architecture. Various...
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| Format: | Article |
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Multidisciplinary Digital Publishing Institute
2018
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| Online Access: | http://hdl.handle.net/1721.1/117546 https://orcid.org/0000-0002-4568-8326 |
| _version_ | 1811082486582607872 |
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| author | Slesarenko, Viacheslav Galich, Pavel I. Vladimirsky, Dmitry Rudykh, Stephan Galich, Pavel Engelkemier, Seiji H. Kleiner, Gregory A |
| author2 | Massachusetts Institute of Technology. Department of Mechanical Engineering |
| author_facet | Massachusetts Institute of Technology. Department of Mechanical Engineering Slesarenko, Viacheslav Galich, Pavel I. Vladimirsky, Dmitry Rudykh, Stephan Galich, Pavel Engelkemier, Seiji H. Kleiner, Gregory A |
| author_sort | Slesarenko, Viacheslav |
| collection | MIT |
| description | The following is a study of the performance of soft cable-driven polymer actuators produced by multimaterial 3D printing. We demonstrate that the mechanical response of the polymer actuator with an embedded cable can be flexibly tuned through the targeted selection of actuator architecture. Various strategies, such as the addition of discrete or periodic stiff inserts, the sectioning of the actuator, or the shifting of the cable channel are employed to demonstrate ways to achieve more controllable deformed shape during weight lifting or reduce the required actuation force. To illustrate these concepts, we design and manufacture a prototype of the soft polymer gripper, which is capable of manipulating small, delicate objects. The explored strategies can be utilized in other types of soft actuators, employing, for instance, actuation by means of electroactive polymers. |
| first_indexed | 2024-09-23T12:04:11Z |
| format | Article |
| id | mit-1721.1/117546 |
| institution | Massachusetts Institute of Technology |
| last_indexed | 2024-09-23T12:04:11Z |
| publishDate | 2018 |
| publisher | Multidisciplinary Digital Publishing Institute |
| record_format | dspace |
| spelling | mit-1721.1/1175462022-10-01T07:58:08Z Strategies to Control Performance of 3D-Printed, Cable-Driven Soft Polymer Actuators: From Simple Architectures to Gripper Prototype Slesarenko, Viacheslav Galich, Pavel I. Vladimirsky, Dmitry Rudykh, Stephan Galich, Pavel Engelkemier, Seiji H. Kleiner, Gregory A Massachusetts Institute of Technology. Department of Mechanical Engineering Sloan School of Management Engelkemier, Seiji H. Kleiner, Gregory A Rudykh, Stephan The following is a study of the performance of soft cable-driven polymer actuators produced by multimaterial 3D printing. We demonstrate that the mechanical response of the polymer actuator with an embedded cable can be flexibly tuned through the targeted selection of actuator architecture. Various strategies, such as the addition of discrete or periodic stiff inserts, the sectioning of the actuator, or the shifting of the cable channel are employed to demonstrate ways to achieve more controllable deformed shape during weight lifting or reduce the required actuation force. To illustrate these concepts, we design and manufacture a prototype of the soft polymer gripper, which is capable of manipulating small, delicate objects. The explored strategies can be utilized in other types of soft actuators, employing, for instance, actuation by means of electroactive polymers. Israel Science Foundation (projects 1550/15) Israel Science Foundation (projects 1973/15) 2018-08-27T15:53:20Z 2018-08-27T15:53:20Z 2018-08 2018-07 2018-08-22T08:32:09Z Article http://purl.org/eprint/type/JournalArticle 2073-4360 http://hdl.handle.net/1721.1/117546 Slesarenko, Viacheslav, Seiji Engelkemier, Pavel I. Galich, Dmitry Vladimirsky, Gregory Klein and Stephan Rudykh. "Strategies to Control Performance of 3D-Printed, Cable-Driven Soft Polymer Actuators: From Simple Architectures to Gripper Prototype." Polymers 2018, 10, 846. https://orcid.org/0000-0002-4568-8326 http://dx.doi.org/10.3390/polym10080846 Polymers Creative Commons Attribution http://creativecommons.org/licenses/by/4.0/ application/pdf Multidisciplinary Digital Publishing Institute Multidisciplinary Digital Publishing Institute |
| spellingShingle | Slesarenko, Viacheslav Galich, Pavel I. Vladimirsky, Dmitry Rudykh, Stephan Galich, Pavel Engelkemier, Seiji H. Kleiner, Gregory A Strategies to Control Performance of 3D-Printed, Cable-Driven Soft Polymer Actuators: From Simple Architectures to Gripper Prototype |
| title | Strategies to Control Performance of 3D-Printed, Cable-Driven Soft Polymer Actuators: From Simple Architectures to Gripper Prototype |
| title_full | Strategies to Control Performance of 3D-Printed, Cable-Driven Soft Polymer Actuators: From Simple Architectures to Gripper Prototype |
| title_fullStr | Strategies to Control Performance of 3D-Printed, Cable-Driven Soft Polymer Actuators: From Simple Architectures to Gripper Prototype |
| title_full_unstemmed | Strategies to Control Performance of 3D-Printed, Cable-Driven Soft Polymer Actuators: From Simple Architectures to Gripper Prototype |
| title_short | Strategies to Control Performance of 3D-Printed, Cable-Driven Soft Polymer Actuators: From Simple Architectures to Gripper Prototype |
| title_sort | strategies to control performance of 3d printed cable driven soft polymer actuators from simple architectures to gripper prototype |
| url | http://hdl.handle.net/1721.1/117546 https://orcid.org/0000-0002-4568-8326 |
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