Snakeskin-Inspired 3D Printable Soft Robot Composed of Multi-Modular Vacuum-Powered Actuators

Author:

Lee Seonghyeon1,Her Insun2,Jung Woojun1,Hwang Yongha1ORCID

Affiliation:

1. Department of Control and Instrumentation Engineering, Korea University, Sejong 30019, Republic of Korea

2. Department of Electro-Mechanical Systems Engineering, Korea University, Sejong 30019, Republic of Korea

Abstract

A modular soft actuator with snakeskin-inspired scales that generates an anisotropic friction force is designed and evaluated in this study. The actuator makes it possible to fabricate soft robots that can move on various surfaces in the natural environment. For existing modulus soft robots, additional connectors and several independent pneumatic pumps are required. However, we designed precise connection and snake-scale structures integrated with a single pneumatic modular actuator unit. The precise structure was printed using a DLP 3D printer. The movement characteristics of the soft robot changed according to the angle of the scale structure, and the movement distance increased as the number of modular soft actuator units increased. Soft robots that can move in operating environments such as flat land, tubes, inclined paths, and water have been realized. Furthermore, soft robots with modularization strategies can easily add modular units. We demonstrate the ability to deliver objects 2.5 times heavier than the full weight of the soft robot by adding tong-like structure to the soft robot. The development of a soft robot inspired by snakeskin suggests an easy approach to soft robots that enables various tasks even in environments where existing robots have limited activity.

Funder

Ministry of Science ICT and Future Planning

Ministry of Education

Publisher

MDPI AG

Subject

Control and Optimization,Control and Systems Engineering

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