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Stretchable Kirigami Components for Composite Meso-Scale Robots
Stretchable Kirigami Components for Composite Meso-Scale Robots
- Source :
- IEEE Robotics and Automation Letters. 5:1883-1890
- Publication Year :
- 2020
- Publisher :
- Institute of Electrical and Electronics Engineers (IEEE), 2020.
-
Abstract
- Layer-by-layer manufacturing of composite mechanisms allows fast and cost-effective fabrication of customized robots in millimeter and centimeter scales which is promising for research fields that rely on frequent and numerous physical iterations. Due to the limited number of components that can be directly integrated in composite structures, however, often an assembly step is necessary which diminishes the benefits of this manufacturing method. Inspired by the Japanese craft of cutting (kiri-) paper (-gami), Kirigami, we introduce quasi-2D and highly stretchable functional Kirigami layers for direct integration into the composite mechanisms. Depending on the material and geometrical design; functional Kirigami layers can perform as flat springs, stretchable electronics, sensors or actuators. These components will facilitate the design and manufacturing of composite robots for different applications. To illustrate the effectiveness of these components, we designed and realized a foldable composite inchworm robot with three Kirigami layers serving as actuator, sensor and contact pad with directional friction. We elaborate on the working principle of each layer and report on their combined performance in the robot.
- Subjects :
- 0209 industrial biotechnology
Control and Optimization
Computer science
Stretchable electronics
Composite number
Biomedical Engineering
Mechanical engineering
flexible robots
02 engineering and technology
020901 industrial engineering & automation
Artificial Intelligence
Layer (object-oriented design)
soft sensors and actuators
Contact pad
Mechanical Engineering
soft robot materials and design
021001 nanoscience & nanotechnology
Computer Science Applications
Human-Computer Interaction
Control and Systems Engineering
Robot
crawling robot
Computer Vision and Pattern Recognition
Direct integration of a beam
0210 nano-technology
Actuator
Subjects
Details
- ISSN :
- 23773774
- Volume :
- 5
- Database :
- OpenAIRE
- Journal :
- IEEE Robotics and Automation Letters
- Accession number :
- edsair.doi.dedup.....84a1aad09c4cdcb3635fadd22527ed61
- Full Text :
- https://doi.org/10.1109/lra.2020.2969924