3D printing non-assembly compliant joints for soft robotics

Zolfagharian, A, Lakhi, M, Ranjbar, S, Tadesse, Y and Bodaghi, M ORCID: https://orcid.org/0000-0002-0707-944X, 2022. 3D printing non-assembly compliant joints for soft robotics. Results in Engineering, 15: 100558. ISSN 2590-1230

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Abstract

This paper investigates integrating non-assembly three-dimensional (3D)-printed joints and soft robotic muscles in order to make a tendon-driven robotic finger. A finger-type structure actuated by electro-thermal soft actuator mechanism is introduced, including a bio-inspired 3D-printed compliant joint. As an affordable but high-performance component, twisted and coiled polymer (TCP) is used to drive the system as an actuator. The Euler–Lagrangian method and a transfer function based on an electro-thermo-mechanical model are used to analyze finger joints. The compliant joints are non-assembly 3D-printed spiral springs with high customization capabilities incorporated into the model. The simulation analysis is conducted to elucidate how the electro-thermal muscle and the spiral spring joint properties influence the finger motion. The results reveal further understanding of the 3D-printed spiral spring joints effects on the behavior of the soft robotic limbs. The suggested method can be adapted and employed in a broad variety of medicinal and industrial applications.

Item Type:	Journal article
Publication Title:	Results in Engineering
Creators:	Zolfagharian, A., Lakhi, M., Ranjbar, S., Tadesse, Y. and Bodaghi, M.
Publisher:	Elsevier BV
Date:	September 2022
Volume:	15
ISSN:	2590-1230
Identifiers:	Number Type 10.1016/j.rineng.2022.100558 DOI 1591955 Other
Rights:	© 2022 The Authors. Published by Elsevier B.V. This is an open access article under the CC BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/).
Divisions:	Schools > School of Science and Technology
Record created by:	Laura Ward
Date Added:	19 Aug 2022 10:34
Last Modified:	19 Aug 2022 10:34
URI:	https://irep.ntu.ac.uk/id/eprint/46897

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