Recent advances in soft robotics in academia have led to the adoption of soft grippers in industrial settings. Due to their soft bending actuators, these grippers can handle delicate objects with great care. However, due to their flexibility, the actuators are prone to out-of-plane deformations upon asymmetric loading. These undesired deformations lead to reduced grasp performance and may cause instability or failure of the grip. While the state-of-the-art contributions describe complex designs to limit those deformations, this work focuses on a complementary path investigating the material distribution. In this paper, a novel bending actuator is developed with improved out-of-plane deformation resistance by optimizing the material distribution in multi-material designs composed of two polymers with different mechanical properties. This is made possible by the strong interfacial strength of Diels-Alder chemical bonds in the used polymers, which have a self-healing capability. A Solid Isotropic Material with Penalization (SIMP) topology optimization is performed to increase the out-of-plane resistance. The actuator is simulated using FEA COMSOL in which the (hyper) elastic materials are simulated by Mooney-Rivlin models, fitted on experimental uniaxial tensile test data. This multi-material actuator and a reference single material actuator were manufactured and modeled. Via experimental characterization and validation in FEA simulations, it is shown that the actuator performance, characterized by the in-plane performance and out-plane resistance, can be increased by an optimized multi-material composition, without changing the geometrical shape of the actuator.
Originele taal-2English
Titel2022 IEEE/RSJ International Conference on Intelligent Robots and Systems
Aantal pagina's8
ISBN van elektronische versie9781665479271
StatusPublished - 31 okt 2022
Evenement2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) - Kyoto International Conference Center, Kyoto, Japan
Duur: 23 okt 202227 okt 2022

Publicatie series

NaamIEEE International Conference on Intelligent Robots and Systems
ISSN van geprinte versie2153-0858
ISSN van elektronische versie2153-0866


Conference2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Internet adres

Bibliografische nota

Funding Information:
ACKNOWLEDGMENT This research is funded by the EU FET Project SHERO (828818). Zhanwei Wang is funded by China Scholarship Council (CSC). The FWO (Fonds Wetenschappelijk Onder-zoek) funded the work through personal grants of Seppe Terryn (1100416N) and Ellen Roels (1S84120N). Seyedreza Kashef Tabrizian is funded by the EU Marie Curie ITN project SMART (860108).

Publisher Copyright:
© 2022 IEEE.

Copyright 2023 Elsevier B.V., All rights reserved.


Duik in de onderzoeksthema's van 'Topology optimized multi-material self-healing actuator with reduced out of plane deformation'. Samen vormen ze een unieke vingerafdruk.

Citeer dit