Inexpensive monolithic additive manufacturing of silicone structures for bio-inspired soft robotic systems

Abstract In soft robotics, the fabrication of extremely structures capable performing bio-inspired complex motion is a challenging task. this paper, an innovative 3D printing silicone with embedded shape memory alloy (SMA) actuators are proposed, which completed in single cycle from CAD files. The proposed custom-made setup, based on material extrusion (MEX) method, was used conjunction cartesian pick and place robot (CPPR) to completely automate thick skins (7 mm) actuators. These were fabricated monolithically without any assembly tasks direct human intervention. Taking advantage capability print different geometries, three patterns over skin, resulting remarkable dynamic motions: out-of-plane deformation (jumping structure x-y plane x-z plane) achieved for first-time employing best author’s knowledge. addition, two process parameters (printing speed build plate temperature) extruded curing mechanisms investigated enhance quality. This paper aims advance role additive manufacturing field robotics by demonstrating all benefits that low-cost, printer can bring table terms structures.