Printable Hydraulics: A Method for Fabricating Robots by 3D Co-Printing Solids and Liquids
Name
2016_MacCurdy-Printable Hydraulics-A method for fabricating.pdf
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1.72 MB
Format
Adobe PDF
Checksum (MD5)
65ec8262c33d0c2772b5125bbfc13fe3
Author(s)
MacCurdy, Robert
Katzschmann, Robert Kevin
Kim, Youbin
Rus, Daniela L.
Date Issued
May 2016
Journal
Proceedings of the 2016 IEEE International Conference on Robotics and Automation
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Citation
MacCurdy, Robert, Robert Katzschmann, Youbin Kim, and Daniela Rus. "Printable Hydraulics: A Method for Fabricating Robots by 3D Co-Printing Solids and Liquids." 2016 IEEE International Conference on Robotics and Automation (May 2016).
Version
Author's final manuscript
Abstract
This paper introduces a novel technique for fabricating functional robots using 3D printers. Simultaneously depositing photopolymers and a non-curing liquid allows complex, pre-filled fluidic channels to be fabricated. This new printing capability enables complex hydraulically actuated robots and robotic components to be automatically built, with no assembly required. The technique is showcased by printing linear bellows actuators, gear pumps, soft grippers and a hexapod robot, using a commercially-available 3D printer. We detail the steps required to modify the printer and describe the design constraints imposed by this new fabrication approach.
MIT Department
Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Massachusetts Institute of Technology. Department of Mechanical Engineering
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Creative Commons Attribution-Noncommercial-Share Alike
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DOI of Published Version
https://ras.papercept.net/conferences/conferences/ICRA16/program/ICRA16_ContentListWeb_3.html#wedbt3_07
