Research Article
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DESIGN AND PRODUCTION OF MULTI MATERIAL 3D PRINTER FOR SOFT ROBOTIC STRUCTURAL ELEMENTS

Year 2021, Volume: 5 Issue: 2, 227 - 236, 31.08.2021
https://doi.org/10.46519/ij3dptdi.955494

Abstract

With the latest technology, the development and interest in soft robots have gained speed. Flexible robots are generally produced by the casting method. This traditional production method cannot meet the required quality and production speed. For this, it is aimed to solve the problem by accelerating the production of robots without decreasing the quality. The most successful method for solving this problem is 3D printers, which could print multiple materials. It was decided to be used multi-materials printing, and the system design was carried out. This study aims to design and produce a multi-material 3D printer capable of printing non-conductive and conductive rapidly curing silicone that can be used in soft robotics and medical simulators. The electrical conductivity was achieved by mixing silicone and graphite powder. The parts in the designed system are also obtained by the additive manufacturing method. Test pieces were printed using the produced 3D printer. Specific tests have been carried out on the produced parts. Technical data such as strength, elasticity, electrical conductivity have been obtained.

Supporting Institution

TUBİTAK

Project Number

1139B412001047

References

  • 1. Schumacher, M., Loepfe, M., Fuhrer, R., Grassa, R.N., Stark, W.J., “3D printed lost-wax casted soft silicone monoblocks enable heart-inspired pumping by internal combustion”, RSC Advances, Vol. 4, Issue 31, Pages 16039-16042, 2014.
  • 2. Rateni, G., Cianchetti, M., Ciuti, G., Menciassi, A., Laschi, C.,“Design and development of a soft robotic gripper for manipulation in minimally invasive surgery: a proof of concept”, Meccanica, Vol.50, Pages 2855–2863, 2015.
  • 3. Yap, H. K., Ng, H. Y., Yeow, C. H., “High-force soft printable pneumatics for soft robotic applications.”, Soft Robotics, Vol. 3, Issue 3, Page 144-158, 2016.
  • 4. Rus, D., Tolley, M. T., “Design, fabrication and control of soft robots”, Nature 2015, Pages 467-475, 2015.
  • 5. Gibson, I., Rosen, D., Stucker, B., “Additive manufacturing technologies: 3D printing, rapid prototyping, and direct digital manufacturing”, 2nd edn. Springer, New York, 2015.
  • 6. Gul, J. Z., Rehman, M. M., Siddiqui, M. M., Shah, G. U., Kim, I., Choi, K. H., “3D printing for soft robotics-a review”, Science and technology of advanced Materials, Vol. 19, Issue 1, Pages 243-262, 2018.
  • 7. Muth, J.T., Vogt, D.M., Truby, R.L., Mengüç, Y., Kolesky, D. B., Wood, R. J., Lewis, J. A., “3D Printing Embedded 3D Printing of Strain Sensors within Highly Stretchable Elastomers”, Adv. Mater., Vol. 26, Issue 36, 2014.
  • 8. Zarek, M., Layani, M., Cooperstein, I., et al., “3D printing of shape memory polymers for flexible electronic devices”, Adv. Mater., Vol. 28, Issue 22, 2016.
  • 9. Yang, Y., Chen, Y., Wei, Y., et al, “3D printing of shape memory polymer for functional part fabrication”, Int J Adv Manuf Ischnol, Vol.84, Pages 2079-2095, 2016.
  • 10. Akhras, G., “Smart Materials and Smart Systems for the Future”, Canadian Military Journal, Vol.1, Issue 3, Pages 24-31, 2000. 11. ASTM D412-16e1, Standard Test Methods for Vulcanized Rubber and Thermoplastic Elastomers—Tension, ASTM International, West Conshohocken, PA, 2016,
  • 12. Bishop-Moser, J., Kota, S., “Design and Modeling of Generalized Fiber-Reinforced Pneumatic Soft Actuators”, IEEE Transactions on Robotics, Vol. 31, Issue 3, Pages 536-545, 2015
  • 13. Daerden, F., Lefeber, D., "Pneumatic artificial muscles: Actuators for robotics and automation", Eur. J. Mech. Environ. Eng., Vol. 47, Page 11-21, 2002.
  • 14. Dollar, A. M., Howe, R. D., “The highly adaptive SDM hand: Design and performance evaluation”, The International Journal of Robotics Research, Vol. 29, Issue 5, Pages 585–597, 2010.
  • 15. Kofod, G., "Dielectric elastomer actuators", Ph.D. Thesis, The Technical University of Denmark, Lyngby, 2001
  • 16. Funk, R., Parekh, D., Crittenden, T., Glezer, A., “Transient Separation Control using Pulse Combustion Actuation”, 1st Flow Control Conference, Pages 24-26, St. Louis, Missouri, 2002.
  • 17. Immega, G., Antonelli, K., "The KSI tentacle manipulator", Proceedings of 1995 IEEE International Conference on Robotics and Automation 1995, Pages 3149-3154, Nagoya, Japan, 1995.
  • 18. Polygerinos, P., Wang, Z., Overvelde, J. T., Galloway, K. C., Wood, R. J., Bertoldi, K., & Walsh, C. J., “Modeling of soft fiber-reinforced bending actuators”, IEEE Trans. Robot, Vol.31, Issue 3, Pages 778–789, 2015.
  • 19. Wang, Z., Chathuranga, D.S., Hirai, S., "3D printed soft gripper for automatic lunch box packing", IEEE International Conference on Robotics and Biomimetics (ROBIO), Pages 503-508, Qingdao, China, 2016.
  • 20. Souhail, A., Vessakosol P., “PneuNets bending actuator design and fabrication using low cost silicones”, TSME-ICoME. ACM Press, 2018.
  • 21. Lu, S., Chen, D., Hao, R., Luo, S., & Wang, M., "Design, fabrication and characterization of soft sensors through EGaIn for soft pneumatic actuators", Measurement, Vol. 164, 2020.
  • 22. Jentoft, L. P., Tenzer, Y., Vogt, D., Liu, J., Wood, R. J., Howe, R. D., “Flexible, Stretchable Tactile Arrays From MEMS Barometers”, The 16th International Conference on Advanced Robotics, Montevideo, Uruguay, 2013.
  • 23. Felt, W., Lu, S., Remy, C.D., "Modeling and Design of “Smart Braid” Inductance Sensors for Fiber-Reinforced Elastomeric Enclosures", IEEE Sensors Journal, Vol. 18, Issue 7, Page 2827-2835, 2018.
  • 24. Ward-Cherrier, B., Pestell, N., Cramphorn, L., Winstone, B., Giannaccini, M. E., Rossiter J., et al., "The TacTip Family: Soft optical tactile sensors with 3D-Printed biomimetic morphologies", Soft Robotics, Vol. 5, Issue 2, Pages 216-227, 2018.
  • 25. Yang, H., Chen, Y., Sun, Y., Hao, L., "A novel pneumatic soft sensor for measuring contact force and curvature of a soft gripper”, Sens. Actuat., Vol. 266, Pages 318–327, 2017.
  • 26. Atalay, A., Sanchez, V., Atalay, O., Vogt, D., M., Haufe, F., Wood, R. J., Walsh, C. J., "Batch Fabrication of Customizable Silicone-Textile Composite Capacitive Strain Sensors for Human Motion Tracking”, Adv. Mater. Technol., Vol.2, Issue 9, 2017.
  • 27. Atzeni, E., Salmi, A. "Economics of additive manufacturing for end-usable metal parts", Int J Adv Manuf. Technol., Vol.62, Pages 1147–1155, 2012.
  • 28. Dilibal, S., Sahin, H., & Celik, Y., "Experimental and numerical analysis on the bending response of the geometrically gradient soft robotics actuator”, Archives of Mechanics, Vol.70, Issue 5, Pages 391-404, 2018.
  • 29. Dilibal, S., Sahin, H., Danquah, J. O., Emon, M. O. F., Choi, J. W., "Additively Manufactured Custom Soft Gripper with Embedded Soft Force Sensors for an Industrial Robot”, International Journal of Precision Engineering and Manufacturing, Vol.22, Issue 4, Pages 709-718, 2021.
  • 30. Yirmibesoglu, O. D., Morrow, J., Walker, S., Gosrich, W., Cañizares, R., Kim, H., Menguc, Y., "Direct 3D printing of silicone elastomer soft robots and their performance comparison with molded counterparts", IEEE International Conference on Soft Robotics (RoboSoft), Pages 295-302, Livorno Italy, 2018.
  • 31. Antonia G., Lukas E., Bram V., Frank C., "A Sensorized Soft Pneumatic Actuator Fabricated with Extrusion-Based Additive Manufacturing," Actuators, Vol.10, Issue 5, 2021.
  • 32. Miriyev A., Xia B., Joseph J.C., Lipson, H. "Additive Manufacturing of Silicone Composites for Soft Actuation" 3D Print Addit. Manuf., Vol.6, Issue 6, 2019.
  • 33. Kiraz C., Sezer H., Şahin İ., "Kuyumculuk sektöründe 3b baski tasarim özgürlüğünden faydalanmaya ilişkin bir perspektif", International Journal of 3D Printing Technologies and Digital Industry, Vol.2, Issue 2, Pages 46-58, 2018.
Year 2021, Volume: 5 Issue: 2, 227 - 236, 31.08.2021
https://doi.org/10.46519/ij3dptdi.955494

Abstract

Project Number

1139B412001047

References

  • 1. Schumacher, M., Loepfe, M., Fuhrer, R., Grassa, R.N., Stark, W.J., “3D printed lost-wax casted soft silicone monoblocks enable heart-inspired pumping by internal combustion”, RSC Advances, Vol. 4, Issue 31, Pages 16039-16042, 2014.
  • 2. Rateni, G., Cianchetti, M., Ciuti, G., Menciassi, A., Laschi, C.,“Design and development of a soft robotic gripper for manipulation in minimally invasive surgery: a proof of concept”, Meccanica, Vol.50, Pages 2855–2863, 2015.
  • 3. Yap, H. K., Ng, H. Y., Yeow, C. H., “High-force soft printable pneumatics for soft robotic applications.”, Soft Robotics, Vol. 3, Issue 3, Page 144-158, 2016.
  • 4. Rus, D., Tolley, M. T., “Design, fabrication and control of soft robots”, Nature 2015, Pages 467-475, 2015.
  • 5. Gibson, I., Rosen, D., Stucker, B., “Additive manufacturing technologies: 3D printing, rapid prototyping, and direct digital manufacturing”, 2nd edn. Springer, New York, 2015.
  • 6. Gul, J. Z., Rehman, M. M., Siddiqui, M. M., Shah, G. U., Kim, I., Choi, K. H., “3D printing for soft robotics-a review”, Science and technology of advanced Materials, Vol. 19, Issue 1, Pages 243-262, 2018.
  • 7. Muth, J.T., Vogt, D.M., Truby, R.L., Mengüç, Y., Kolesky, D. B., Wood, R. J., Lewis, J. A., “3D Printing Embedded 3D Printing of Strain Sensors within Highly Stretchable Elastomers”, Adv. Mater., Vol. 26, Issue 36, 2014.
  • 8. Zarek, M., Layani, M., Cooperstein, I., et al., “3D printing of shape memory polymers for flexible electronic devices”, Adv. Mater., Vol. 28, Issue 22, 2016.
  • 9. Yang, Y., Chen, Y., Wei, Y., et al, “3D printing of shape memory polymer for functional part fabrication”, Int J Adv Manuf Ischnol, Vol.84, Pages 2079-2095, 2016.
  • 10. Akhras, G., “Smart Materials and Smart Systems for the Future”, Canadian Military Journal, Vol.1, Issue 3, Pages 24-31, 2000. 11. ASTM D412-16e1, Standard Test Methods for Vulcanized Rubber and Thermoplastic Elastomers—Tension, ASTM International, West Conshohocken, PA, 2016,
  • 12. Bishop-Moser, J., Kota, S., “Design and Modeling of Generalized Fiber-Reinforced Pneumatic Soft Actuators”, IEEE Transactions on Robotics, Vol. 31, Issue 3, Pages 536-545, 2015
  • 13. Daerden, F., Lefeber, D., "Pneumatic artificial muscles: Actuators for robotics and automation", Eur. J. Mech. Environ. Eng., Vol. 47, Page 11-21, 2002.
  • 14. Dollar, A. M., Howe, R. D., “The highly adaptive SDM hand: Design and performance evaluation”, The International Journal of Robotics Research, Vol. 29, Issue 5, Pages 585–597, 2010.
  • 15. Kofod, G., "Dielectric elastomer actuators", Ph.D. Thesis, The Technical University of Denmark, Lyngby, 2001
  • 16. Funk, R., Parekh, D., Crittenden, T., Glezer, A., “Transient Separation Control using Pulse Combustion Actuation”, 1st Flow Control Conference, Pages 24-26, St. Louis, Missouri, 2002.
  • 17. Immega, G., Antonelli, K., "The KSI tentacle manipulator", Proceedings of 1995 IEEE International Conference on Robotics and Automation 1995, Pages 3149-3154, Nagoya, Japan, 1995.
  • 18. Polygerinos, P., Wang, Z., Overvelde, J. T., Galloway, K. C., Wood, R. J., Bertoldi, K., & Walsh, C. J., “Modeling of soft fiber-reinforced bending actuators”, IEEE Trans. Robot, Vol.31, Issue 3, Pages 778–789, 2015.
  • 19. Wang, Z., Chathuranga, D.S., Hirai, S., "3D printed soft gripper for automatic lunch box packing", IEEE International Conference on Robotics and Biomimetics (ROBIO), Pages 503-508, Qingdao, China, 2016.
  • 20. Souhail, A., Vessakosol P., “PneuNets bending actuator design and fabrication using low cost silicones”, TSME-ICoME. ACM Press, 2018.
  • 21. Lu, S., Chen, D., Hao, R., Luo, S., & Wang, M., "Design, fabrication and characterization of soft sensors through EGaIn for soft pneumatic actuators", Measurement, Vol. 164, 2020.
  • 22. Jentoft, L. P., Tenzer, Y., Vogt, D., Liu, J., Wood, R. J., Howe, R. D., “Flexible, Stretchable Tactile Arrays From MEMS Barometers”, The 16th International Conference on Advanced Robotics, Montevideo, Uruguay, 2013.
  • 23. Felt, W., Lu, S., Remy, C.D., "Modeling and Design of “Smart Braid” Inductance Sensors for Fiber-Reinforced Elastomeric Enclosures", IEEE Sensors Journal, Vol. 18, Issue 7, Page 2827-2835, 2018.
  • 24. Ward-Cherrier, B., Pestell, N., Cramphorn, L., Winstone, B., Giannaccini, M. E., Rossiter J., et al., "The TacTip Family: Soft optical tactile sensors with 3D-Printed biomimetic morphologies", Soft Robotics, Vol. 5, Issue 2, Pages 216-227, 2018.
  • 25. Yang, H., Chen, Y., Sun, Y., Hao, L., "A novel pneumatic soft sensor for measuring contact force and curvature of a soft gripper”, Sens. Actuat., Vol. 266, Pages 318–327, 2017.
  • 26. Atalay, A., Sanchez, V., Atalay, O., Vogt, D., M., Haufe, F., Wood, R. J., Walsh, C. J., "Batch Fabrication of Customizable Silicone-Textile Composite Capacitive Strain Sensors for Human Motion Tracking”, Adv. Mater. Technol., Vol.2, Issue 9, 2017.
  • 27. Atzeni, E., Salmi, A. "Economics of additive manufacturing for end-usable metal parts", Int J Adv Manuf. Technol., Vol.62, Pages 1147–1155, 2012.
  • 28. Dilibal, S., Sahin, H., & Celik, Y., "Experimental and numerical analysis on the bending response of the geometrically gradient soft robotics actuator”, Archives of Mechanics, Vol.70, Issue 5, Pages 391-404, 2018.
  • 29. Dilibal, S., Sahin, H., Danquah, J. O., Emon, M. O. F., Choi, J. W., "Additively Manufactured Custom Soft Gripper with Embedded Soft Force Sensors for an Industrial Robot”, International Journal of Precision Engineering and Manufacturing, Vol.22, Issue 4, Pages 709-718, 2021.
  • 30. Yirmibesoglu, O. D., Morrow, J., Walker, S., Gosrich, W., Cañizares, R., Kim, H., Menguc, Y., "Direct 3D printing of silicone elastomer soft robots and their performance comparison with molded counterparts", IEEE International Conference on Soft Robotics (RoboSoft), Pages 295-302, Livorno Italy, 2018.
  • 31. Antonia G., Lukas E., Bram V., Frank C., "A Sensorized Soft Pneumatic Actuator Fabricated with Extrusion-Based Additive Manufacturing," Actuators, Vol.10, Issue 5, 2021.
  • 32. Miriyev A., Xia B., Joseph J.C., Lipson, H. "Additive Manufacturing of Silicone Composites for Soft Actuation" 3D Print Addit. Manuf., Vol.6, Issue 6, 2019.
  • 33. Kiraz C., Sezer H., Şahin İ., "Kuyumculuk sektöründe 3b baski tasarim özgürlüğünden faydalanmaya ilişkin bir perspektif", International Journal of 3D Printing Technologies and Digital Industry, Vol.2, Issue 2, Pages 46-58, 2018.
There are 32 citations in total.

Details

Primary Language English
Subjects Mechanical Engineering
Journal Section Research Article
Authors

Özgün Selvi 0000-0003-4937-1489

Murat Yetim 0000-0001-9844-9532

Samed Yiğit Çırnık 0000-0003-0755-2329

Hasan Fehmi İlter 0000-0002-3835-5056

Muhammed Enes Akan 0000-0001-8368-9365

Temel Tomaç 0000-0001-9227-3660

Project Number 1139B412001047
Publication Date August 31, 2021
Submission Date June 21, 2021
Published in Issue Year 2021 Volume: 5 Issue: 2

Cite

APA Selvi, Ö., Yetim, M., Çırnık, S. Y., İlter, H. F., et al. (2021). DESIGN AND PRODUCTION OF MULTI MATERIAL 3D PRINTER FOR SOFT ROBOTIC STRUCTURAL ELEMENTS. International Journal of 3D Printing Technologies and Digital Industry, 5(2), 227-236. https://doi.org/10.46519/ij3dptdi.955494
AMA Selvi Ö, Yetim M, Çırnık SY, İlter HF, Akan ME, Tomaç T. DESIGN AND PRODUCTION OF MULTI MATERIAL 3D PRINTER FOR SOFT ROBOTIC STRUCTURAL ELEMENTS. IJ3DPTDI. August 2021;5(2):227-236. doi:10.46519/ij3dptdi.955494
Chicago Selvi, Özgün, Murat Yetim, Samed Yiğit Çırnık, Hasan Fehmi İlter, Muhammed Enes Akan, and Temel Tomaç. “DESIGN AND PRODUCTION OF MULTI MATERIAL 3D PRINTER FOR SOFT ROBOTIC STRUCTURAL ELEMENTS”. International Journal of 3D Printing Technologies and Digital Industry 5, no. 2 (August 2021): 227-36. https://doi.org/10.46519/ij3dptdi.955494.
EndNote Selvi Ö, Yetim M, Çırnık SY, İlter HF, Akan ME, Tomaç T (August 1, 2021) DESIGN AND PRODUCTION OF MULTI MATERIAL 3D PRINTER FOR SOFT ROBOTIC STRUCTURAL ELEMENTS. International Journal of 3D Printing Technologies and Digital Industry 5 2 227–236.
IEEE Ö. Selvi, M. Yetim, S. Y. Çırnık, H. F. İlter, M. E. Akan, and T. Tomaç, “DESIGN AND PRODUCTION OF MULTI MATERIAL 3D PRINTER FOR SOFT ROBOTIC STRUCTURAL ELEMENTS”, IJ3DPTDI, vol. 5, no. 2, pp. 227–236, 2021, doi: 10.46519/ij3dptdi.955494.
ISNAD Selvi, Özgün et al. “DESIGN AND PRODUCTION OF MULTI MATERIAL 3D PRINTER FOR SOFT ROBOTIC STRUCTURAL ELEMENTS”. International Journal of 3D Printing Technologies and Digital Industry 5/2 (August 2021), 227-236. https://doi.org/10.46519/ij3dptdi.955494.
JAMA Selvi Ö, Yetim M, Çırnık SY, İlter HF, Akan ME, Tomaç T. DESIGN AND PRODUCTION OF MULTI MATERIAL 3D PRINTER FOR SOFT ROBOTIC STRUCTURAL ELEMENTS. IJ3DPTDI. 2021;5:227–236.
MLA Selvi, Özgün et al. “DESIGN AND PRODUCTION OF MULTI MATERIAL 3D PRINTER FOR SOFT ROBOTIC STRUCTURAL ELEMENTS”. International Journal of 3D Printing Technologies and Digital Industry, vol. 5, no. 2, 2021, pp. 227-36, doi:10.46519/ij3dptdi.955494.
Vancouver Selvi Ö, Yetim M, Çırnık SY, İlter HF, Akan ME, Tomaç T. DESIGN AND PRODUCTION OF MULTI MATERIAL 3D PRINTER FOR SOFT ROBOTIC STRUCTURAL ELEMENTS. IJ3DPTDI. 2021;5(2):227-36.

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