A Recipe for Soft Fluidic Elastomer Robots
Name
Marchese-2015-A Recipe for Soft Fluidic Elasto.pdf
Size
1.17 MB
Format
Adobe PDF
Checksum (MD5)
7327bfcacc2fcbd240f7894a06e7af6c
Author(s)
Marchese, Andrew Dominic
Katzschmann, Robert Kevin
Rus, Daniela L
Date Issued
March 2015
Journal
Soft Robotics
Publisher
Mary Ann Liebert
Citation
Marchese, Andrew D., Robert K. Katzschmann, and Daniela Rus. “A Recipe for Soft Fluidic Elastomer Robots.” Soft Robotics 2, no. 1 (March 2015): 7–25.
Version
Final published version
Abstract
This work provides approaches to designing and fabricating soft fluidic elastomer robots. That is, three viable actuator morphologies composed entirely from soft silicone rubber are explored, and these morphologies are differentiated by their internal channel structure, namely, ribbed, cylindrical, and pleated. Additionally, three distinct casting-based fabrication processes are explored: lamination-based casting, retractable-pin-based casting, and lost-wax-based casting. Furthermore, two ways of fabricating a multiple DOF robot are explored: casting the complete robot as a whole and casting single degree of freedom (DOF) segments with subsequent concatenation. We experimentally validate each soft actuator morphology and fabrication process by creating multiple physical soft robot prototypes.
MIT Department
Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Massachusetts Institute of Technology. Department of Mechanical Engineering
Terms of Use
Creative Commons Attribution 4.0 International License
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1089/soro.2014.0022
