8. Soft robotics¶
Soft Robotics¶
Research
The design, control, and construction of robots made of flexible materials rather than stiff joints is the focus of the robotics subfield known as "soft robotics.
Soft robots' compliance can increase their safety when operating in close proximity to humans, in contrast to rigid-bodied robots made of metal, ceramic, and hard plastics.
Comparing Soft Robots with Conventional Robotic Systems¶
Soft robots, made from flexible materials with methods like 3D printing, have potential uses in a number of fields. They make use of compliant pneumatic actuators, guaranteeing both adaptability in difficult situations and safety during human-robot interactions. They still struggle to exert enough effort and manage more difficult activities, though. Larger soft robots' scalability and possible hazards to people are called into question by the way they strike a balance between functionality and compliance.
Soft Robots' Sustainability in the Circular Economy¶
Soft robotics must incorporate sustainability in order to support the objectives of a circular economy. While certain soft robot materials are biodegradable, the recyclability of electronic components presents a problem. Individual robot components should be readily removable to improve recyclability. It is possible to discover new medical uses by employing sustainable and recyclable materials.
References & Inspiration¶
Ying Gao¶
Fashion designer Ying Gao, who is based in Montreal, is back with new robotic clothing, this time drawing influence from the metaverse and NFTs. Her latest outfits use silicone, glass, and precious metals to create a polymorphic material that mimics the effects of virtual clothes, giving the impression that they are pulsing and twisting like floral beings.
Philip Beesley¶
Philip Beesley is a multidisciplinary artist, designer, and university professor. A practitioner of sculpture test beds and digital media art, his work is cited for his contributions to the field of responsive and interactive systems.
Hylozoic Soil is an interactive geotextile mesh that senses human occupants and responds with air movement, produced by peristaltic waves of motion within distributed fields of lightweight pores. Custom-manufactured components use parametric design and digital fabrication. Machine intelligence is embedded within networks of micro-controllers that coordinate arrays of proximity sensors and kinetic ‘actuators’. Arrays of capacitance-sensing whiskers and shape-memory alloy actuators are used to create a diffuse peristaltic pumping that pulls air and organic matter through the occupied space.
Tools¶
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- Silicon
- Heat Vinyl
- Laser Cut machine
- Roland machine
- 3D Printer
Process and workflow¶
Heat Vinyl and Tracing Paper Layer Test for Soft Robotics¶¶
We experimented with multilayer vinyl and tracing paper to make flexible, inflatable components for this round of our soft robotics project. To keep the design minimal and concentrate on analyzing the flexibility and interplay of the materials.
Step 1¶
Using Corel Draw to Design the Shape¶
Preparing Roland Machine to Cut Vinyl¶
- Test Cut: We carried out a test cut to guarantee correctness, enabling us to make any required modifications prior to cutting the entire design.
- Final Cut: The Roland machine cut the design exactly after it had been calibrated, leaving the vinyl with crisp edges that were ideal for layering.
Step 2¶
Using the Roland Machine to Cut Vinyl¶
Ironning process¶
Result¶
Silicon experimentation¶
We also working on soft robotics using silicone this week. Because it is pliable, strong, and moldable into a wide variety of shapes, silicone is ideal for this.
Step 1¶
Combining Silicone to Create Soft Robots
In this section of the project, we created flexible structures using silicone based on Epoxy Master platinum. To ensure that the amounts were identical, we used a precise scale to measure out 32.5 grams of Part A and 32.5 grams of Part B. We carefully combined the two components after measuring them to prevent air bubbles. Because trapped air might affect the final structure's flexibility and durability, this phase is crucial. Patience is necessary while mixing silicone, but the smooth, bubble-free result is worth it.
To create even more flexible and soft robotic components, we used Silicone 0A in addition to Epoxy Master silicone. As a result, we had two distinct silicone mixtures for our tests, each with special qualities. The combination gave us more possibilities to work with in our soft robotics projects by enabling us to experiment with a variety of flexibility and movement in our designs!
We put our Epoxy Master platinum-based silicone container on a vibration machine to achieve the optimum results. Before the silicone hardens, this machine helps any air bubbles rise to the surface and burst by gently vibrating the mixture.
Step 2¶
We filled the molds when our silicone mixture was free of bubbles. We gently poured the silicone liquid into some pre-made molds that we already had ready for our soft robotics pieces. In order to prevent creating any additional bubbles and to ensure that the silicone filled the whole mold, we took our time pouring.
We gently poured our silicone mixture into the molds and then let them to dry. All that's left to do is wait for the silicone to completely cure so that it can maintain its flexibility and shape.
We proceeded to glue the silicone pieces together after they had completely dried. To ensure that every side was precisely aligned, we carefully applied silicone to the components to attach them. We then put them aside to dry one more so that the adhesive could fully harden.
Results¶
Video¶
Step 3¶
Creating new design¶
Sketches
Laser cut parameters for acrylic sheets¶
- Speed- 12
- Min. Power-80
- Max. Power-85
Laser cuts with acrylic sheets¶
Results¶
