A modular approach to design multi-channel bistable valves for integrated pneumatically-driven soft robots via 3D-printing
A pneumatic system that transmits power via the force of compressed air is an essential component of an air-driven soft robot. Pneumatic valves are one of the key parts of this system. However, the development of soft or electronics-free valves for soft robotic applications is in its infancy, with o...
| Main Authors: | , , |
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| Format: | Journal article |
| Language: | English |
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IEEE
2022
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| _version_ | 1826298876196290560 |
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| author | Wang, S He, L Maiolino, P |
| author_facet | Wang, S He, L Maiolino, P |
| author_sort | Wang, S |
| collection | OXFORD |
| description | A pneumatic system that transmits power via the force of compressed air is an essential component of an air-driven soft robot. Pneumatic valves are one of the key parts of this system. However, the development of soft or electronics-free valves for soft robotic applications is in its infancy, with only a few 2/2 way valves developed. Previous research has shown demands for a complex pneumatic system that can regulate the airflow in multiple channels or switching the pressure within a chamber between multiple states. Hardware redundancy is found in such complex pneumatic circuits if only 2/2 way valves are available for the system design. To increase the design freedom, this paper presents a modular approach that integrates multi-channel modular valve units and bi-stable structures for the conversion of pneumatic signals. By utilising soft-material 3D printing, the 3/2-way valve, 4/2-way valve and 5/2-way valve design are proposed in this paper to control multiple air channels simultaneously. The modular design of these 3D printed multi-port valves allows quick design and fabrication solutions of a complex electronics-free pneumatic system by reassembling different modular units of the valve. Experiment characterization of the multi-channel valves shows maximum allowable pressure at 187.2 kPa and a flow rate of 7.42 L/min under 50 kPa pressure loss. A demonstration of controlling four states of a dual-chamber soft robotic arm with only two modular multi-chamber valves was included, showing reduced valve units and overall weight compared to conventional electronics-free 2/2 way valves. |
| first_indexed | 2024-03-07T04:53:27Z |
| format | Journal article |
| id | oxford-uuid:d5c39773-8166-4412-b419-0643ee0d35fd |
| institution | University of Oxford |
| language | English |
| last_indexed | 2024-03-07T04:53:27Z |
| publishDate | 2022 |
| publisher | IEEE |
| record_format | dspace |
| spelling | oxford-uuid:d5c39773-8166-4412-b419-0643ee0d35fd2022-03-27T08:28:25ZA modular approach to design multi-channel bistable valves for integrated pneumatically-driven soft robots via 3D-printingJournal articlehttp://purl.org/coar/resource_type/c_dcae04bcuuid:d5c39773-8166-4412-b419-0643ee0d35fdEnglishSymplectic ElementsIEEE2022Wang, SHe, LMaiolino, PA pneumatic system that transmits power via the force of compressed air is an essential component of an air-driven soft robot. Pneumatic valves are one of the key parts of this system. However, the development of soft or electronics-free valves for soft robotic applications is in its infancy, with only a few 2/2 way valves developed. Previous research has shown demands for a complex pneumatic system that can regulate the airflow in multiple channels or switching the pressure within a chamber between multiple states. Hardware redundancy is found in such complex pneumatic circuits if only 2/2 way valves are available for the system design. To increase the design freedom, this paper presents a modular approach that integrates multi-channel modular valve units and bi-stable structures for the conversion of pneumatic signals. By utilising soft-material 3D printing, the 3/2-way valve, 4/2-way valve and 5/2-way valve design are proposed in this paper to control multiple air channels simultaneously. The modular design of these 3D printed multi-port valves allows quick design and fabrication solutions of a complex electronics-free pneumatic system by reassembling different modular units of the valve. Experiment characterization of the multi-channel valves shows maximum allowable pressure at 187.2 kPa and a flow rate of 7.42 L/min under 50 kPa pressure loss. A demonstration of controlling four states of a dual-chamber soft robotic arm with only two modular multi-chamber valves was included, showing reduced valve units and overall weight compared to conventional electronics-free 2/2 way valves. |
| spellingShingle | Wang, S He, L Maiolino, P A modular approach to design multi-channel bistable valves for integrated pneumatically-driven soft robots via 3D-printing |
| title | A modular approach to design multi-channel bistable valves for integrated pneumatically-driven soft robots via 3D-printing |
| title_full | A modular approach to design multi-channel bistable valves for integrated pneumatically-driven soft robots via 3D-printing |
| title_fullStr | A modular approach to design multi-channel bistable valves for integrated pneumatically-driven soft robots via 3D-printing |
| title_full_unstemmed | A modular approach to design multi-channel bistable valves for integrated pneumatically-driven soft robots via 3D-printing |
| title_short | A modular approach to design multi-channel bistable valves for integrated pneumatically-driven soft robots via 3D-printing |
| title_sort | modular approach to design multi channel bistable valves for integrated pneumatically driven soft robots via 3d printing |
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