3D Knitting for Pneumatic Soft Robotics,Advanced Functional Materials

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3D Knitting for Pneumatic Soft Robotics
Advanced Functional Materials ( IF 18.5 ) Pub Date : 2023-04-23 , DOI: 10.1002/adfm.202212541
Vanessa Sanchez _{1,

2,

3} , Kausalya Mahadevan ₁ , Gabrielle Ohlson ₁ , Moritz A. Graule ₁ , Michelle C. Yuen ₁ , Clark B. Teeple ₁ , James C. Weaver _{1,

2} , James McCann ₄ , Katia Bertoldi ₁ , Robert J. Wood _{1,

2}

Affiliation

Soft robots adapt passively to complex environments due to their inherent compliance, allowing them to interact safely with fragile or irregular objects and traverse uneven terrain. The vast tunability and ubiquity of textiles has enabled new soft robotic capabilities, especially in the field of wearable robots, but existing textile processing techniques (e.g., cut-and-sew, thermal bonding) are limited in terms of rapid, additive, accessible, and waste-free manufacturing. While 3D knitting has the potential to address these limitations, an incomplete understanding of the impact of structure and material on knit-scale mechanical properties and macro-scale device performance has precluded the widespread adoption of knitted robots. In this work, the roles of knit structure and yarn material properties on textile mechanics spanning three regimes–unfolding, geometric rearrangement, and yarn stretching–are elucidated and shown to be tailorable across unique knit architectures and yarn materials. Based on this understanding, 3D knit soft actuators for extension, contraction, and bending are constructed. Combining these actuation primitives enables the monolithic fabrication of entire soft grippers and robots in a single-step additive manufacturing procedure suitable for a variety of applications. This approach represents a first step in seamlessly “printing” conformal, low-cost, customizable textile-based soft robots on-demand.

中文翻译：

用于气动软体机器人的 3D 编织

软机器人由于其固有的顺应性而被动地适应复杂的环境，使它们能够与脆弱或不规则的物体安全地交互并穿越不平坦的地形。纺织品的巨大可调性和普遍性使得新的软机器人能力成为可能，特别是在可穿戴机器人领域，但现有的纺织品加工技术（例如裁剪和缝纫、热粘合）在快速、附加、可访问、和无废物制造。虽然 3D 针织有可能解决这些局限性，但由于对结构和材料对针织尺度机械性能和宏观设备性能的影响的不完全了解，阻碍了针织机器人的广泛采用。在这项工作中，针织结构和纱线材料特性对跨越三个领域（展开、几何重排和纱线拉伸）的纺织力学的作用得到了阐明，并表明可以在独特的针织结构和纱线材料中进行定制。基于这一认识，构建了用于伸展、收缩和弯曲的 3D 针织软致动器。结合这些驱动基元，可以在适合各种应用的单步增材制造过程中整体制造整个软夹具和机器人。这种方法代表了按需无缝“打印”保形、低成本、可定制的基于纺织品的软机器人的第一步。基于这一认识，构建了用于伸展、收缩和弯曲的 3D 针织软致动器。结合这些驱动基元，可以在适合各种应用的单步增材制造过程中整体制造整个软夹具和机器人。这种方法代表了按需无缝“打印”保形、低成本、可定制的基于纺织品的软机器人的第一步。基于这一认识，构建了用于伸展、收缩和弯曲的 3D 针织软致动器。结合这些驱动基元，可以在适合各种应用的单步增材制造过程中整体制造整个软夹具和机器人。这种方法代表了按需无缝“打印”保形、低成本、可定制的基于纺织品的软机器人的第一步。

更新日期：2023-04-23

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