Journal
SOFT ROBOTICS
Volume 8, Issue 1, Pages 19-27Publisher
MARY ANN LIEBERT, INC
DOI: 10.1089/soro.2019.0129
Keywords
3D printing; microactuators; microrobots; soft robotics
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Funding
- EU Marie Sklodowska-Curie Actions Initial Training Network MICACT [641822]
- Swedish Research Council [2014-3079]
- University of Wollongong Visiting International Scholar Award
- University of Wollongong Global Challenges Program
- Marie Curie Actions (MSCA) [641822] Funding Source: Marie Curie Actions (MSCA)
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This study demonstrates the additive manufacturing of soft microactuators and microrobots using a custom-built extrusion 3D printer to create even smaller structures in the micrometer domain. The research showcases the ease and versatility of the 3D printing process in fabricating microactuators with varying lengths and microrobotic devices consisting of rigid body and individually controlled free-moving arms or legs.
Current additive manufacturing, including three-dimensional (3D) and so-called four-dimensional printing, of soft robotic devices is limited to millimeter sizes. In this study, we present additive manufacturing of soft microactuators and microrobots to fabricate even smaller structures in the micrometer domain. Using a custom-built extrusion 3D printer, microactuators are scaled down to a size of 300 x 1000 mu m(2), with minimum thickness of 20 mu m. Microactuators combined with printed body and electroactive polymers to drive the actuators are fabricated from computer-aided design model of the device structure. To demonstrate the ease and versatility of 3D printing process, microactuators with varying lengths ranging from 1000 to 5000 mu m are fabricated and operated. Likewise, microrobotic devices consisting of a rigid body and individually controlled free-moving arms or legs are 3D printed to explore the microfabrication of soft grippers, manipulators, or microrobots through simple additive manufacturing technique.
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