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| title: Automated Synthesis of Pneumatic Bending Soft Actuators | ||
| permalink: /automated-synthesis | ||
| subtitle: | ||
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| news: true # includes a list of news items | ||
| selected_papers: true # includes a list of papers marked as "selected={true}" | ||
| social: true # includes social icons at the bottom of the page | ||
| --- | ||
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| ### Highlights | ||
| - We present an automated method for the discovery of pneumatic bending soft actuators | ||
| - We incentivize the discovery of actuators which are simultaneously compliant and forceful using custom fitness functions | ||
| - We fabricate bending soft actuator and compare its performance to published results | ||
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| <div class="row"> | ||
| <iframe width="100%" height="315" src="https://www.youtube.com/embed/re_9QF8w0bk" title="YouTube Video Player" frameborder="0" allow="accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture" allowfullscreen></iframe> | ||
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| </div> | ||
| <br><br> | ||
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| ### An Expressive Representation | ||
| Our method hinges on a compact, expressive representation of actuator geometry. All the designs below are generated using the same computational network topology - only network weights and biases are modified to achieve the breadth of morphologies below! | ||
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| <div class="row"> | ||
| <img src="/assets/img/automated-synthesis/as1.png" alt="Image Description" class="img-fluid custom-img"> | ||
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| <br><br> | ||
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| ### Results | ||
| We compare the performance of a selection of automatically designed actuators in simulation, along with a empirical performance of a fabricated sample, with a selection of published results. While the automatically discovered actuator is not Pareto-dominant, it shows similar performance to related results while requiring no human design effort. All designs were discovered using 300 core-hours of compute time. | ||
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| <img src="/assets/img/automated-synthesis/as2.png" alt="Image Description" class="img-fluid custom-img"> | ||
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| layout: page | ||
| title: A Fabrication Free, 3D Printed, Multi-Material, Self-Sensing Soft Actuator | ||
| permalink: /fabrication-free | ||
| subtitle: | ||
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| news: true # includes a list of news items | ||
| selected_papers: true # includes a list of papers marked as "selected={true}" | ||
| social: true # includes social icons at the bottom of the page | ||
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| <a href = "">A Fabrication Free, 3D Printed, Multi-Material, Self-Sensing Soft Actuator | ||
| T Hainsworth, L Smith, S Alexander, R MacCurdy | ||
| IEEE Robotics and Automation Letters 5 (3), 4118-4125</a> | ||
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| ### Highlights | ||
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| - An entirely print-in-place actuator with integrated sensor | ||
| - A comparison of the actuator's performance compared to past work (Figure 3) | ||
| - A FEA comparison to traditional work (Figure 4) | ||
| - Detailed print profiles (Table II) | ||
| - Analysis of actuator and sensor's performance and sensitivity (Figure 8 - 11) | ||
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| <div class="row"> | ||
| <iframe width="100%" height="315" src="https://www.youtube.com/embed/QtndltB9gTI" title="YouTube Video Player" frameborder="0" allow="accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture" allowfullscreen></iframe> | ||
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| <h3>Complex Design</h3> | ||
| <p>The highlighted complex design would be difficult to manufacture with traditional methods, but is easy to make with additive manufacturing.</p> | ||
| </div> | ||
| <div class="col-md-8"> | ||
| <img src="/assets/img/fabrication-free/fabfree1.jpg" alt="Image Description" class="img-fluid custom-img"> | ||
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| <h3>Comparing with Previous Work</h3> | ||
| <p>The design design nicely balances blocked force with maximum deflection.</p> | ||
| </div> | ||
| <div class="col-md-8"> | ||
| <img src="/assets/img/fabrication-free/fabfree2.jpg" alt="Image Description" class="img-fluid custom-img"> | ||
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| <br> | ||
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| <p>Analysis shows that the actuator loses less energy to unnecessary expansion when compared to traditional designs</p> | ||
| </div> | ||
| <div class="col-md-8"> | ||
| <img src="/assets/img/fabrication-free/fabfree3.png" alt="Image Description" class="img-fluid custom-img"> | ||
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| <br><br> | ||
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| <div class="row"> | ||
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| <h3>Sensor Analysis</h3> | ||
| <br><br><br><br><br> | ||
| <p>The sensor can not only detect bending, but can also sense contact.</p> | ||
| </div> | ||
| <div class="col-md-8"> | ||
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| <embed src="/assets/pdf/2020_Hainsworth-A_Fabrication_Free_3D_Printed_Multi-Material_Self-Sensing_Soft_Actuator.pdf" type="application/pdf" width="100%" height="600px" /> | ||
| </div> |
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| layout: page | ||
| title: Liquid-Solid Co-Printing of Multi-Material 3D Fluidic Devices via Material Jetting | ||
| permalink: /liquid-solid | ||
| subtitle: | ||
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| news: true # includes a list of news items | ||
| selected_papers: true # includes a list of papers marked as "selected={true}" | ||
| social: true # includes social icons at the bottom of the page | ||
| --- | ||
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| <a href = "assets/pdf/2022_Liquid–solid_co-printing_of_multi-material_3D_fluidic_devices_via_material_jetting.pdf"> | ||
| B. Hayes, T. Hainsworth, and R. MacCurdy. “Liquid–Solid Co-Printing of Multi-Material 3D Fluidic Devices via Material Jetting.” Additive Manufacturing, vol. 55, 2022, p. 102785., https://doi.org/10.1016/j.addma.2022.102785. </a> | ||
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| ### Summary | ||
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| Multi-material material jetting additive manufacturing processes deposit micro-scale droplets of different model and support materials to build three-dimensional (3D) parts layer by layer. Recent efforts have demonstrated that liquids can act as support materials, which can be easily purged from micro/milli-channels, and as working fluids, which permanently remain in a structure, yet the lack of a detailed understanding of the print process and mechanism has limited widespread applications of liquid printing. In this study, an “all in one go” multi-material print process in which non photo-curable and photo-curable liquid droplets are simultaneous deposited, is extensively characterized. We envision the liquid–solid co-printing process as a key new capability in additive manufacturing to enable simple and rapid fabrication of 3D, integrated print-in-place multi-material fluidic circuits and hydraulic structures with applications including micro/mesofluidic circuits, electrochemical transistors, lab-on-a-chip devices with in-situ reagent deposition, and robotics. | ||
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| <div class="row"> | ||
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| <img src="/assets/img/liquid-solid/liquid-solid1.png" alt="Image Description" class="img-fluid custom-img"> | ||
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| ### Main Learnings | ||
| - Select the head voltage to underjet liquid in order to better contain liquid by the solid matrix; 19 V is a recommended setting for Stratasys Polyjet systems but users should characterize their system similar to figure 6 to verify. | ||
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| - When overjetting, the roller drags liquid into the solid matrix resulting in liquid fingers that are on the size order of 300 μm for a circular channel of radius 500 μm. Channels printed parallel to the printhead direction of motion can reduce the effect of liquid fingers | ||
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| - Full capping layer encapsulation of a liquid surface occurs at N ≥ 5 print layers (135 μm) | ||
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| - If the cured photo-resin droplet density is less dense than that of the non photo-curable liquid, then the cured droplet can be freely supported by the liquid as the buoyancy force alone can support the cured droplet | ||
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| - If the cured photo-resin droplet density is more dense than that of the non photo-curable liquid, then the cured droplet may be supported by the non photo-curable liquid’s surface tension. However, surface deformations due to roller and droplet impacts create a variable surface tension force that can cause a droplet to sink. The best practice is to use attachment points to the solid matrix when possible in this situation | ||
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| - The minimum repeatable channel cross-section (W x H) is 250 x 108 μm2 without regard for part placement orientation | ||
| - The minimum repeatable channel cross-section is 250 x 81 μm2 when the channel is oriented parallel to the printhead direction of motion | ||
| - Printed microfluidic channel cross-sectional areas are less than 60% that of the design channel cross-sectional areas due to the liquid finger phenomenon. | ||
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| ### Mechanism: | ||
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| This work demonstrates that liquids can be used as a support material for subsequent photo-polymer droplets. The lower left figure describes this process in detail. Once the liquid has been deposited, the next print layer, denoted as the capping layer, involves photo-polymer droplets impacting a liquid surface. In the use of any combination of working fluid and photo-resins, | ||
| there are four potential governing force balance cases: (1) the photo-resin is less dense than the non-solidifying liquid | ||
| and surface tension is significant, (2) the photo-resin is less dense than the non-solidifying liquid and surface tension | ||
| is negligible, (3) the photo-resin is more dense than the non-solidifying liquid and surface tension is significant, and | ||
| (4) the photo-resin is more dense than the non-solidifying liquid and the surface tension force is negligible. Scenarios | ||
| 1 and 2 are desirable as they enable the fabrication of free floating structures; however, due to Stratasys photo-resin | ||
| material properties, Polyjet liquid-solid co-printing falls within scenario 3. This technique can be used to make fully hermetic micro/mesofluidic channels as shown by the XRD imaging in the lower right figure. | ||
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| <br> | ||
| <div class="row"> | ||
| <div class="col-md-7"> | ||
| <img src="/assets/img/liquid-solid/liquid-solid2.png" alt="Image Description" class="img-fluid custom-img"> | ||
| </div> | ||
| <div class="col-md-5"> | ||
| <img src="/assets/img/liquid-solid/liquid-solid3.jpg" alt="Second Image Description" class="img-fluid custom-img"> | ||
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| <style> | ||
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| height: auto; /* Set the desired height for the images */ | ||
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| (left) High speed imaging of VeroCyan droplet impact on cleaning fluid; (right) OpenFOAM model of droplet train impact | ||
| <div class="row"> | ||
| <div class="col-md-4"> | ||
| <img src="/assets/img/liquid-solid/liquid-solid4.gif" alt="Image Description" class="img-fluid custom-img"> | ||
| </div> | ||
| <div class="col-md-8"> | ||
| <img src="/assets/img/liquid-solid/liquid-solid5.gif" alt="Second Image Description" class="img-fluid custom-img"> | ||
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| <br> | ||
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| ### Sample Micro/Mesofluidic Devices Possible: | ||
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| The ability to simultaneously deposit non photo-curing (liquid) and photo-curing (solid) materials enables rapid fabrication of planar, 3D, and multi-material fluidic devices. Listed below are examples of such devices. We note the ease in which this technique allows fabrication of micro/mesofluidic devices. 3D printing enables those with no prior soft lithography and micro-fabrication experience to produce micro/mesofluidic devices thus making the field more accessible. | ||
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| <div class="row"> | ||
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| <img src="/assets/img/liquid-solid/liquid-solid6.jpg" alt="Image Description" class="img-fluid custom-img"> | ||
| </div> | ||
| <div class="col-md-5"> | ||
| <br> | ||
| <p>Planar Micro/Mesofluidics</p> | ||
| </div> | ||
| </div> | ||
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| <img src="/assets/img/liquid-solid/liquid-solid7.jpg" alt="Image Description" class="img-fluid custom-img"> | ||
| </div> | ||
| <div class="col-md-5"> | ||
| <br> | ||
| <p>3D Micro/Mesofluidics</p> | ||
| </div> | ||
| </div> | ||
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| <img src="/assets/img/liquid-solid/liquid-solid8.jpg" alt="Image Description" class="img-fluid custom-img"> | ||
| </div> | ||
| <div class="col-md-5"> | ||
| <br> | ||
| <p>3Multi-Material Flap Valve</p> | ||
| </div> | ||
| </div> | ||
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