As described in the review on microfluidic soft robots, several modes of actuation exist, but the majority of soft-robots are currently pneumatically controlled. In this application note, the research was directed towards this type of actuation.
Video: Actuation of a soft-robot hand
This PneuNet, also identified as a “finger”, was carried out using experimental protocols supplied by the Soft robotics Toolkit [1].
This microfluidic soft-robot, owing its name to the fact that the gas pressure is controlled by microfluidic instruments, is composed of a main channel connecting a series of chambers, arranged in a row, where the thinnest walls are those between each chamber (Fig. 46). A stress layer is present at the base of the robot so that it bends when air is pressurized into the device. Without this stress limiting layer, the actuator would only extend in length.
To make this robot, three molds were created using the SolidWorks CAD software and then generated in ABS by 3D printing. The ABS is very useful because it can withstand up to 90°C without deforming. The 3D printer used was a nultimaker 3 (or a Prusa i3 Anet A8), with a nozzle of 0.4mm and a resolution in height of 0.2mm.
Figure 1 : Conception of the “finger” [1]
As presented in the review about soft-robots, the manufacturing process consists in soft lithographic molding, which relies on casting elastomer in molds obtained by soft lithography or 3D printing. Then, the construction of the robot is based on a gluing between two parts: the structural layer, containing the desired channel structures, and the stress layer, having an inextensible property (due to a higher rigidity) required for actuation. This production generally consists of three steps (Fig 2):
Figure 2 : General process of fabrication [1]
Two different prototypes of microfluidic soft-robot were built in order to compare their rigidity:
The two prototypes were actuated using an OB1 MK3 pressure controller and their comportment were compared.
Figure 3: Deformation of the « finger » made of Ecoflex under different pressure: a. p=0mbar, b. p=20mbar, c. p=40mbar, d. p=60mbar, e. p=80mbar, f. p=100mbar, g. p=120mbar
Figure 4:Deformation of the « finger » made of Ecoflex and PDMS under different pressure: a. p=0mbar, b. p=20mbar, c. p=40mbar, d. p=60mbar, e. p=80mbar, f. p=100mbar, g. p=120mbar, h. p=140mbar, i. p=160mbar, j. p=180mbar
From these results, the deformation of the two prototypes were modeled and represented in form of graphs, in order to compare them. (Fig. 5)
Figure 5: Measure of the deformation of the « fingers » a. in Ecoflex, b. in Ecoflex + PDMS, depending on the applied pressure
These graphs witness the difference of rigidity between the two prototypes, because for a given pressure, the resulting flexions are not identical. Actually, 120mbar is enough to curl the finger in Ecoflex, whereas it allows only to bend the fingers in Ecoflex + PDMS a 90 °. Unlike, the prototype combined of Ecoflex and PDMS curls under 200mbar. The prototypes created using PDMS and Ecoflex were easier to control. This association was then used for all the others robots created.
From this previous robot, a « hand » composed of 3 fingers was designed. They are connected together with a structure composed by an assembly of 3D printed parts (Fig. 6). Each actuator possesses its own source of pressure, in order to enable an independent control of each finger.
Figure 6: Design of the support for the assembly of the « hand »
A first sequence was built to control each finger independently (Figure 7), one second to contract the three fingers at a time, and thus allow the grasping of objects (Fig. 8). Further information about the software capabilities on the dedicated software page.
Figure 7: Sequence allowing the independent control of the fingers
Figure 8: Sequence allowing the gripping by simultaneously controlling the three fingers
The advantage of such a device with respect to the same robot realized with solid materials is that this type of actuator allows the conformity matching. Thus, this robot can carry soft, fragile objects without damaging them and without any difficulty, whereas a rigid robot would need a much more complicated control to carry out the same task. Similarly, a 5-finger hand orthosis prototype could have been designed (see Soft-robots review), in order to see a much more concrete application of such soft-robots.
This third soft-robot possessed a more complex fluidic circuit than the other designed robots. In addition, this robot shows another interesting application of flexible robotics, already mentioned in the review of : field exploration.
This robot is composed of 5 main channels, which connect a series of chambers, arranged in rows and which orientations depends on their position (Figure 9).The bottom layer is the stress layer, and allows the flexion of the different members when air is sent into the device.
This robot was designed based on the design of the multigait, a robot presented by Robert F. Shepherd et al. in 2011 [3]. Several types of designs were proposed for the molds without success, before finally obtaining a functional prototype.
Figure 9 : Design of the original multigait (lengths in mm) [3]
Figure 10: Design of the used molds
The structural layer was molded in the white mold, and the red mold allows to build the stress limiting layer (2mm) before adding a layer of liquid PDMS of controlled thickness (200µm), to realize a perfect gluing between the two parts.
Two displacement modes were developed based on the experiments conducted by Robert F. Shepherd et al. [3] on microfluidic soft-robots.
Figure 11: Sequence allowing the motion of the multigait in the « walking » mode
Figure 12: Sequence allowing the motion of the multigait in « creeping » mode
The design of this fourth soft robot presents another manufacturing method, and provides a multitude of degrees of freedom to this robot in order to grasp and manipulate objects of complex shapes. This robot can also be improved by equipping it with functional components such as a suction cup to hold objects, a camera for video tracking in almost inaccessible locations, or a needle for fluid suction or distribution. Surgery would be one of the first applications of such microfluidic soft-robots.
Figure 13: Design of the tentacle
The different steps for the manufacturing of this new robot are shown Fig. 14:
Figure 14: Manufacturing process of the tentacle [4]
a) and b) The different parts of the mold are assembled, before that c) the Ecoflex is cast inside the mold d) then the central cylinder is removed, the air supply pipes are placed and the PDMS is poured into the available enclosure, e) when baked, the other parts of the mold are removed and the ends are plugged with Ecoflex.
This application note demonstrates that soft-robotics is a very interesting fields to study, and which present a lot of applications in the biomedical field. These soft actuators are easily controllable using a pressure controller, and the OB1 MK3 enables a very precise and automated control of these robots.
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