Fused Deposition Modelling for 3D Printing of Soft Anthropomorphic Actuators

Znanstveni rad - Izvorni znanstveni rad

• Autor: P. Curkovic
• Autor: G. Cubric
• Autorova ustanova: Sveučilište u Zagrebu; Fakultet strojarstva i brodogradnje
• Autorova ustanova: Sveučilište u Zagrebu; Tekstilno-tehnološki fakultet
• Znanstveno / umjetničko područje, polje i grana: TEHNIČKE ZNANOSTI; Strojarstvo; Proizvodno strojarstvo

Sažetak (engleski)

Soft actuators are increasingly gaining attention in the robotics community due to several favourable properties rooted mainly in their inherent compliance. They are safe, can easily grasp different objects, and cheap to manufacture. However, particularly in the case of FDM (Fused Deposition Modelling) printed actuators, their design is usually an iterative process that relies on intuition due to complex material models, nonlinearities, large deformations, and residual stresses caused by imperfect interlayer structure. This makes such actuators difficult to model and control and limits their implementation despite some comparative advantages over the other 3D printing technologies. In this study, to characterize the properties of FDM printed soft actuators, we compare a simple but computationally effective linear model with a realistic experimentally generated hyperelastic material model of a soft actuator. Based on these insights, we 3D print a fully operational soft anthropomorphic hand and use it in a set of experiments to evaluate the limitations of the models and suggest design and printing parameters to improve soft actuators’ performance.

• Ključne riječi (engleski): Soft Robots; Modelling; Analysis; Fused Deposition Modelling; Anthropomorphic Actuator
• Jezik: engleski
• Vrsta publikacije: Znanstveni rad - Izvorni znanstveni rad
• Status objave: Objavljen
• Vrsta recenzije: Recenziran - međunarodna recenzija
• Verzija publikacije: Objavljena verzija rada (izdavačev PDF)
• Naslov časopisa: International Journal of Simulation Modelling
• Brojčani podaci: vol. 20, br. 2, str. 303-314
• p-ISSN: 1726-4529
• DOI: https://doi.org/10.2507/IJSIMM20-2-560
• URN:NBN: urn:nbn:hr:235:426150
• Datum objave publikacije: 2021-06-15
• URL dokumenta: http://www.ijsimm.com/Full_Papers/Fulltext2021/text20-2_560.pdf
• Vrsta resursa: Tekst
• Prava pristupa: Otvoreni pristup
• Datum i vrijeme pohrane: 2024-07-16 07:51:27