Journal
JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME
Volume 7, Issue 2, Pages -Publisher
ASME
DOI: 10.1115/1.4029492
Keywords
manufacturing; micromachining; microsculpting; SDM; S-2 DM
Categories
Funding
- ARL MAST [MCE 14-4]
- JPL Gecko-Inspired On-Off Adhesives [115294]
- Stanford SOE Fellowship
- SRI
- DARPA [HR0011-12-C-0040]
- NSF Graduate Research Fellowship
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Biological systems such as the gecko are complex, involving a wide variety of materials and length scales. Bio-inspired robotic systems seek to emulate this complexity, leading to manufacturing challenges. A new design for a membrane-based gripper for curved surfaces requires the inclusion of microscale features, macroscale structural elements, electrically patterned thin films, and both soft and hard materials. Surface and shape deposition manufacturing (S-2 DM) is introduced as a process that can create parts with multiple materials, as well as integrated thin films and microtextures. It combines SDM techniques, laser cutting and patterning, and a new texturing technique, surface microsculpting. The process allows for precise registration of sequential additive/subtractive manufacturing steps. S-2 DM is demonstrated with the manufacture of a gripper that picks up common objects using a gecko-inspired adhesive. The process can be extended to other integrated robotic components that benefit from the integration of textures, thin films, and multiple materials.
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