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Item type:Publication, Access status: with files , Automated fabrication of elastomeric prepregs for soft robotics applicationsFluidic elastomer soft robots typically consist of a top and a strain-limiting bottom part. Both parts are usually cast and then glued together. Elastomeric prepregs, which can be stored at low temperatures for several months without significant cross-linking, simplify this manufacturing process. A cured top part of an arbitrary shape is placed on the wet prepreg, which later forms the strain-limiting layer, and the actuator is finally cured in an oven. Herein, a machine is designed and developed that automatically produces prepregs. Three different concepts are realized in a modular prototype: direct roller application, reverse roller application, and application with slot dies. Experiments show that the direct and the reverse roller application concepts are both suitable for the automated production of prepregs, where the latter one may be preferred due to the smaller number of contact surfaces. Three different textiles (polyester/cotton-blended fabric, nylon fabric, and fleece) are impregnated with the reverse roller application concept using Sylgard 184 and stored at −25 °C for 12 days. Using these prepregs, soft bending actuators are manufactured and tested for their functionality. Long-term fatigue tests show that only actuators produced with fleece prepregs are durable, without any signs of delamination.Publicationtype: Journal ArticleScopus© Citations 1 661 505 - Some of the metrics are blocked by yourconsent settings
Item type:Publication, Access status: with files , A Gecko-Inspired Soft Passive Gripper(Multidisciplinary Digital Publishing Institute (MDPI), 2020-03-25); ; This paper presents a soft passive gripper consisting of six fluidic soft bending actuators arranged in a star-shaped manner. The actuators are oriented such that, upon pressurization, they bend against gravity. Gripping is realized by a commercial tape with mushroom-shaped adhesive structures that is glued to the bottom patches of the gripper. In this way, the object is released by peeling away the actuators from the object’s surface. In contrast to active grippers, which require continuous pressurization during gripping and holding, the presented passive gripper only requires energy for the release process. However, due to its working principle, the gripper is restricted to only flat objects or objects with at least one flat surface.Publicationtype: Journal ArticleScopus© Citations 15 191 188 - Some of the metrics are blocked by yourconsent settings
Item type:Publication, Access status: with files , Recycling-oriented design in soft robotics(Multidisciplinary Digital Publishing Institute (MDPI), 2019-08-12); Soft robotics is a novel approach in the field of robotics. Soft robots or soft actuators are typically polymer-based and are characterized by their flexibility and adaptability, which brings new far-reaching applications. Soft robotics is currently at the peak of its research. One circumstance that is also present in this age is constant climate change; there is a demand for sustainability. This goes hand in hand with the design of products that are suitable for recycling. Today, more is expected of an engineer than just function-oriented design. This article looks at soft robotics from the point of view of sustainability. Since nature operates in cycles, the aim is to design products in such a way that they can be introduced into cycles. Three recycling cycles for products can be distinguished, which take place during production, during product use, and after product life. Within the framework of this work, special design measures are reviewed for fluidic elastomer actuators - a characteristic type of soft actuators - so that they can be integrated into the recycling process.Publicationtype: Journal ArticleScopus© Citations 7 342 309 - Some of the metrics are blocked by yourconsent settings
Item type:Publication, Access status: with files , On-board pneumatic pressure generation methods for soft robotics applicationsThe design and construction of a soft robot are challenging tasks on their own. When the robot is supposed to operate without a tether, it becomes even more demanding. While a tethered operation is sufficient for a stationary use, it is impractical for wearable robots or performing tasks that demand a high mobility. Choosing and implementing an on-board pneumatic pressure source are particularly complex tasks. There are several different pressure generation methods to choose from, each with very different properties and ways of implementation. This review paper is written with the intention of informing about all pressure generation methods available in the field of soft robotics and providing an overview of the abilities and properties of each method. Nine different methods are described regarding their working principle, pressure generation behavior, energetic considerations, safety aspects, and suitability for soft robotics applications. All presented methods are evaluated in the most important categories for soft robotics pressure sources and compared to each other qualitatively and quantitatively as far as possible. The aim of the results presented is to simplify the choice of a suitable pressure generation method when designing an on-board pressure source for a soft robot.Publicationtype: Journal ArticleScopus© Citations 25 374 437