Soft Robotic Mechanism

FLEXIBILITY

Soft Robotics are highly flexible and can allow for a wide range of motion without sacrificing durability

MOTION

They produce a smooth motion that mimics plant function and improves the movement of products

TECHNOLOGY INTEGRATION

There is possibility to integrate computer controls, which can improve automation and application

Honeycomb Mechanism

To maximize flexibility, the honeycomb walls are only 1.5mm thick, with 2x4mm rectangles on all sharp corners

Contracted

Expanded

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INPUT

Sensor-- light sensing, touch sensing, switch-control-- inputs electrical signal to actuator (pneumatic or hydro pump)

PROCESSING

Actuator induces hydro or air pressure into the “flexible pillows” via thin silicone tubes

OUTPUT

Honeycomb structure expands through the enlarged pillows, inducingmotion and pushes onto movement interface

System

Diagram

Contracted

Expanded

SPECS

Honeycomb Structure (Contracted):

L: 3.5” W: 2” H: 2.375”

Wall Thickness: 1.5mm

Material: TPU, 2-Wall

Pneumatic System:

Tube: Silicone, 1mm ID x 2mm OD, 4m used

3-Way Joint: Silicone, 1/16”, 32 used

Air Pillow: PA/PE, 1” x 2.5”, 32 used

Adhesive: Hot Glue

Complete Prototype:

Contracted: L: 4” W: 3” H: 3.5” (Rough Estimate)

Lack of air pressure:

Requirement of high-pressure air pump which was not met in this prototype

Air leakage of the pillows:

There are observed leakage on the air pillows, which was unable to be resolved

Reducing the number of air pillows allowed the cells to expand more

Limitations of This Prototype

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