Monolithic Microchannels in Miniature Pneumatic Soft Robots for Sequential Motions

Dongliang Fan; Hao Liu; Ting Wang; Renjie Zhu; Hongqiang Wang

10.1109/IROS55552.2023.10341400

2023

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

2153-0858

978-1-6654-9191-4

2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

10191-10196

1-5 Oct. 2023

Detroit, MI, USA

345 E 47TH ST, NEW YORK, NY 10017 USA

IEEE

Miniature soft robots present great potential in delicate manipulations due to their gentle force, complaint structures, and flexible motions. Easy control and fast response make pneumatic actuation a prevalent method for driving soft robotics. In addition, sequential motions are also crucial for enhancing the grasping and moving abilities of soft robots. However, existing miniature pneumatic soft robots are limited to one-dimensional geometries and simple motions due to the difficulties in designing and fabricating intricate small airways in miniature pneumatic soft robots, which restricts them from more versatile deformations. Here, we employ intricate monolithic microchannels embedded into miniature soft robots' monolithic bodies for sequential motions. After verifying the effects of the channel diameter, strain-limiting layer, and elastic modulus of the robot's body on the bending behaviors of the 1D soft robots, we fabricated a soft flower robot capable of sequential and simultaneous 3D-to-3D shape morphing through five individual microchannels and a soft carnivorous plant robot containing 2D interconnected microchannels capable of sequential enclosed grasping through a single inlet.

Statistical analysis Shape Grasping Soft robotics Pneumatic systems Bending Flowering plants

第一

英语

EI ; CPCI-S

National Natural Science Foundation of China[52275021] ; National Key R&D Program of China[2022YFB4701200] ; Science, Technology, and Innovation Commission of Shenzhen Municipality["ZDSYS20200811143601004","ZDSYS20220527171403009"] ; Southern Marine Science and Engineering Guangdong Laboratory (Guangzhou)[K19313901]

Computer Science ; Robotics

Computer Science, Artificial Intelligence ; Computer Science, Information Systems ; Computer Science, Theory & Methods ; Robotics

WOS:001136907803133

20240315411877

Pneumatics ; Robots

Pneumatics:632.3 ; Robotics:731.5

IEEE

Shenzhen Key Laboratory of Intelligent Robotics and Flexible Manufacturing Systems, Southern University of Science and Technology, Shenzhen, China

Dongliang Fan,Hao Liu,Ting Wang,et al. Monolithic Microchannels in Miniature Pneumatic Soft Robots for Sequential Motions[C]. 345 E 47TH ST, NEW YORK, NY 10017 USA:IEEE,2023:10191-10196.