3D printing non-assembly compliant joints for soft robotics

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