One-Shot 3D-Printed Multimaterial Soft Robotic Jamming Grippers.

Soft Robotics
Gerard David HowardGary W Delaney

Abstract

Soft gripping provides the potential for high performance in challenging tasks through morphological computing; however, design explorations are limited by a combination of a difficulty in generating useful models and use of laborious fabrication techniques. We focus on a class of grippers based on granular jamming that are particularly difficult to model and introduce a "one shot" technique that exploits multimaterial three-dimensional (3D) printing to create entire grippers, including membrane and grains, in a single print run. This technique fully supports the de facto physical generate-and-test methodology used for this class of grippers, as entire design iterations can be fitted onto a single print bed and fabricated from Computer-Aided Design (CAD) files in a matter of hours. Initial results demonstrate the approach by rapidly prototyping in materio solutions for two challenging problems in unconventional design spaces; a twisting gripper that uses programmed deformations to reliably pick a coin, and a multifunctional legged robot paw that offers the ability for compliant locomotion over rough terrains, as well as being able to pick objects in cluttered natural environments. The technique also allows us to easily characte...Continue Reading

References

Feb 1, 2012·Biological cybernetics·Helmut HauserWolfgang Maass
Jan 22, 2013·Nature Materials·Marc Z Miskin, Heinrich M Jaeger
Mar 22, 2014·Soft Matter·Athanasios G AthanassiadisHeinrich M Jaeger
May 29, 2015·Nature·Daniela Rus, Michael T Tolley
Jul 15, 2015·Science·Nicholas W BartlettRobert J Wood
Jan 13, 2017·Soft Robotics·Nadia ChengWilliam Culley
Jan 13, 2017·Soft Robotics·John AmendBill Culley
Feb 1, 2017·Artificial Life·Vincent C Müller, Matej Hoffmann
Dec 19, 2017·Soft Robotics·Stephen LichtChristopher Baxter
May 8, 2018·Advanced Materials·Jun ShintakeHerbert Shea

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