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An integrated design and fabrication strategy for entirely soft, autonomous robots

机译：适用于全软自主机器人的集成设计和制造策略

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摘要

Soft robots possess many attributes that are difficult, if not impossible, to achieve with conventional robots composed of rigid materials(1,2). Yet, despite recent advances, soft robots must still be tethered to hard robotic control systems and power sources(3-10). New strategies for creating completely soft robots, including soft analogues of these crucial components, are needed to realize their full potential. Here we report the untethered operation of a robot composed solely of soft materials. The robot is controlled with microfluidic logic(11) that autonomously regulates fluid flow and, hence, catalytic decomposition of an on-board monopropellant fuel supply. Gas generated from the fuel decomposition inflates fluidic networks downstream of the reaction sites, resulting in actuation(12). The body and microfluidic logic of the robot are fabricated using moulding and soft lithography, respectively, and the pneumatic actuator networks, on-board fuel reservoirs and catalytic reaction chambers needed for movement are patterned within the body via a multi-material, embedded 3D printing technique(13,14). The fluidic and elastomeric architectures required for function span several orders of magnitude from the microscale to the macroscale. Our integrated design and rapid fabrication approach enables the programmable assembly of multiple materials within this architecture, laying the foundation for completely soft, autonomous robots.
机译：软机器人具有许多属性，这些属性即使不是不可能的，也很难用刚性材料组成的传统机器人实现（1,2）。然而，尽管最近取得了进步，但仍然必须将软机器人绑定到硬机器人控制系统和电源（3-10）。为了实现其全部潜力，需要新的策略来创建完全软的机器人，包括这些关键组件的软类似物。在这里，我们报告了仅由软材料组成的机器人的不受束缚的操作。该机器人由微流体逻辑（11）控制，该逻辑可自动调节流体流量，并因此调节机载单推进剂燃料供应的催化分解。燃料分解产生的气体使反应位点下游的流体网络膨胀，从而致动（12）。机器人的身体和微流体逻辑分别使用成型和软光刻技术制造，并且通过多材料，嵌入式3D打印在身体内部对气动执行器网络，车载燃料箱和运动所需的催化反应室进行构图技术（13,14）。功能所需的流体和弹性结构从微观到宏观跨越几个数量级。我们的集成设计和快速制造方法使该架构内的多种材料的可编程组装成为可能，从而为完全柔软的自主机器人奠定了基础。

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  • 来源
    《Nature》 |2016年第7617期|451-455|共5页
  • 作者

    Wehner Michael; Truby Ryan L.; Fitzgerald Daniel J.; Mosadegh Bobak; Whitesides George M.; Lewis Jennifer A.; Wood Robert J.;

  • 作者单位

    Harvard Univ, John A Paulson Sch Engn & Appl Sci, Cambridge, MA 02138 USA|Harvard Univ, Wyss Inst Biol Inspired Engn, Cambridge, MA 02138 USA;

    Harvard Univ, John A Paulson Sch Engn & Appl Sci, Cambridge, MA 02138 USA|Harvard Univ, Wyss Inst Biol Inspired Engn, Cambridge, MA 02138 USA;

    Harvard Univ, John A Paulson Sch Engn & Appl Sci, Cambridge, MA 02138 USA|Harvard Univ, Wyss Inst Biol Inspired Engn, Cambridge, MA 02138 USA;

    Weill Cornell Med, Dalio Inst Cardiovasc Imaging, New York, NY 10021 USA|New York Presbyterian Hosp, New York, NY 10021 USA|Weill Cornell Med, Dept Radiol, New York, NY 10021 USA;

    Harvard Univ, Wyss Inst Biol Inspired Engn, Cambridge, MA 02138 USA|Harvard Univ, Dept Chem & Chem Biol, Cambridge, MA 02138 USA;

    Harvard Univ, John A Paulson Sch Engn & Appl Sci, Cambridge, MA 02138 USA|Harvard Univ, Wyss Inst Biol Inspired Engn, Cambridge, MA 02138 USA;

    Harvard Univ, John A Paulson Sch Engn & Appl Sci, Cambridge, MA 02138 USA|Harvard Univ, Wyss Inst Biol Inspired Engn, Cambridge, MA 02138 USA;

  • 收录信息 美国《科学引文索引》(SCI);美国《工程索引》(EI);美国《生物学医学文摘》(MEDLINE);美国《化学文摘》(CA);
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