3D printed soft parallel actuator

Zolfagharian, Ali, Kouzani, Abbas, Khoo, Sui Yang, Noshadi, Amin and Kaynak, Akif 2018, 3D printed soft parallel actuator, Smart materials and structures, vol. 27, no. 4, doi: 10.1088/1361-665X/aaab29.

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Title 3D printed soft parallel actuator
Author(s) Zolfagharian, Ali
Kouzani, AbbasORCID iD for Kouzani, Abbas orcid.org/0000-0002-6292-1214
Khoo, Sui Yang
Noshadi, Amin
Kaynak, Akif
Journal name Smart materials and structures
Volume number 27
Issue number 4
Total pages 16
Publisher IOP Publishing
Place of publication Bristol, Eng.
Publication date 2018-03-20
ISSN 0964-1726
1361-665X
Keyword(s) Science & Technology
Technology
Instruments & Instrumentation
Materials Science, Multidisciplinary
Materials Science
3D printing
soft robot
soft actuator
responsive hydrogel
HYDROGEL
BIOPOLYMER
CHITOSAN
FIBERS
MOTION
Summary © 2018 IOP Publishing Ltd. This paper presents a 3-dimensional (3D) printed soft parallel contactless actuator for the first time. The actuator involves an electro-responsive parallel mechanism made of two segments namely active chain and passive chain both 3D printed. The active chain is attached to the ground from one end and constitutes two actuator links made of responsive hydrogel. The passive chain, on the other hand, is attached to the active chain from one end and consists of two rigid links made of polymer. The actuator links are printed using an extrusion-based 3D-Bioplotter with polyelectrolyte hydrogel as printer ink. The rigid links are also printed by a 3D fused deposition modelling (FDM) printer with acrylonitrile butadiene styrene (ABS) as print material. The kinematics model of the soft parallel actuator is derived via transformation matrices notations to simulate and determine the workspace of the actuator. The printed soft parallel actuator is then immersed into NaOH solution with specific voltage applied to it via two contactless electrodes. The experimental data is then collected and used to develop a parametric model to estimate the end-effector position and regulate kinematics model in response to specific input voltage over time. It is observed that the electroactive actuator demonstrates expected behaviour according to the simulation of its kinematics model. The use of 3D printing for the fabrication of parallel soft actuators opens a new chapter in manufacturing sophisticated soft actuators with high dexterity and mechanical robustness for biomedical applications such as cell manipulation and drug release.
Language eng
DOI 10.1088/1361-665X/aaab29
Field of Research 03 Chemical Sciences
09 Engineering
HERDC Research category C1 Refereed article in a scholarly journal
ERA Research output type C Journal article
Copyright notice ©2018, IOP Publishing
Persistent URL http://hdl.handle.net/10536/DRO/DU:30107481

Document type: Journal Article
Collection: School of Engineering
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