1. In situUV curable 3D printing of multi-material tri-legged soft bot with spider mimicked multi-step forward dynamic gait
- Author
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Kyung Hyun Choi, Dong Eui Chang, Young Jin Yang, Bong-Su Yang, and Jahan Zeb Gul
- Subjects
Engineering ,Acoustics ,3D printing ,02 engineering and technology ,010402 general chemistry ,01 natural sciences ,General Materials Science ,Electrical and Electronic Engineering ,Composite material ,Civil and Structural Engineering ,business.industry ,Epoxy ,021001 nanoscience & nanotechnology ,Condensed Matter Physics ,Atomic and Molecular Physics, and Optics ,Finite element method ,0104 chemical sciences ,Wavelength ,Mechanics of Materials ,visual_art ,Signal Processing ,UV curing ,visual_art.visual_art_medium ,0210 nano-technology ,business ,Actuator ,Electrical efficiency ,Voltage - Abstract
Soft bots have the expedient ability of adopting intricate postures and fitting in complex shapes compared to mechanical robots. This paper presents a unique in situ UV curing three-dimensional (3D) printed multi-material tri-legged soft bot with spider mimicked multi-step dynamic forward gait using commercial bio metal filament (BMF) as an actuator. The printed soft bot can produce controllable forward motion in response to external signals. The fundamental properties of BMF, including output force, contractions at different frequencies, initial loading rate, and displacement-rate are verified. The tri-pedal soft bot CAD model is designed inspired by spider's legged structure and its locomotion is assessed by simulating strain and displacement using finite element analysis. A customized rotational multi-head 3D printing system assisted with multiple wavelength's curing lasers is used for in situ fabrication of tri-pedal soft-bot using two flexible materials (epoxy and polyurethane) in three layered steps. The size of tri-pedal soft-bot is 80 mm in diameter and each pedal's width and depth is 5 mm × 5 mm respectively. The maximum forward speed achieved is 2.7 mm s−1 @ 5 Hz with input voltage of 3 V and 250 mA on a smooth surface. The fabricated tri-pedal soft bot proved its power efficiency and controllable locomotion at three input signal frequencies (1, 2, 5 Hz).
- Published
- 2016