Fabrication of Soft Pneumatic Network Actuators with Oblique Chambers

作者： Lisen Ge*1,2, Tianyu Wang*1,3, Ningbin Zhang1,2, Guoying Gu1,2 1State Key Laboratory of Mechanical System and Vibration,Shanghai Jiao Tong University, 2Robotics Institute, School of Mechanical Engineering,Shanghai Jiao Tong University, 3University of Michigan-Shanghai Jiao Tong University Joint Institute,Shanghai Jiao Tong University

简介：

Overview

This article presents a fabrication method for soft pneumatic network actuators featuring oblique chambers. These actuators are capable of generating coupled bending and twisting motions, enhancing their utility in soft robotics.

Key Study Components

Area of Science

• Soft robotics
• Pneumatic actuators
• Fabrication techniques

Background

• Soft pneumatic actuators are essential for advancements in soft robotics.
• Traditional fabrication methods may be slow or costly.
• Oblique chambers can improve actuator performance.
• Understanding the fabrication process is crucial for successful implementation.

Purpose of Study

• To present a reliable and low-cost method for fabricating soft pneumatic actuators.
• To demonstrate the capabilities of actuators with oblique chambers.
• To address challenges faced by newcomers in the fabrication process.

Methods Used

• Designing and 3D printing molds for the actuators.
• Creating a chamber mold with a 30-degree oblique angle.
• Incorporating a tubing connection in the mold design.
• Following a step-by-step fabrication process to ensure reliability.

Main Results

• The fabricated actuators successfully demonstrated coupled bending and twisting motions.
• The method proved to be fast and cost-effective.
• Reliability was maintained throughout the fabrication process.
• Challenges for beginners were identified and addressed.

Conclusions

• The study provides a valuable fabrication method for soft pneumatic actuators.
• Oblique chambers enhance actuator functionality.
• Future applications in soft robotics are promising.

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