A Modular Approach to Design Multi-Channel Bistable Valves for Integrated Pneumatically-Driven Soft Robots via 3D-Printing

A pneumatic system that transmits power via the force of compressed air is an essential component air-driven soft robot. Pneumatic valves are one key parts this system. However, development or electronics-free for robotic applications in its infancy, with only a few 2/2 way developed. Previous research has shown demands complex can regulate airflow multiple channels switching pressure within chamber between states. Hardware redundancy found such circuits if available design. To increase design freedom, paper presents modular approach integrates multi-channel valve units and bi-stable structures conversion signals. By utilising soft-material 3D printing, 3/2-way valve, 4/2-way 5/2-way proposed to control simultaneously. The these printed multi-port allows quick fabrication solutions by reassembling different valve. Experiment characterization shows maximum allowable at 187.2 kPa flow rate 7.42 L/min under 50 loss. demonstration controlling four states dual-chamber arm two multi-chamber was included, showing reduced overall weight compared conventional valves.