印刷可能な油圧機構：固体と液体の3D同時印刷によるロボット製作手法
Printable Hydraulics: A Method for Fabricating Robots by 3D Co-Printing Solids and Liquids
光硬化性樹脂と非硬化性液体を同時に3Dプリントすることで、組み立て不要の油圧駆動ロボットや部品を一体造形する技術を提案し、ベローズアクチュエータや軟体グリッパ、六脚ロボットで実証した。
著者: Robert MacCurdy, Robert Katzschmann, Youbin Kim, Daniela Rus
分類: cs.RO
原文アブストラクト
This work introduces a novel technique for fabricating functional robots using 3D printers. Simultaneously depositing photopolymers and a non-curing liquid allows complex, pre-filled fluidic channels to be fabricated. This new printing capability enables complex hydraulically actuated robots and robotic components to be automatically built, with no assembly required. The technique is showcased by printing linear bellows actuators, gear pumps, soft grippers and a hexapod robot, using a commercially-available 3D printer. We detail the steps required to modify the printer and describe the design constraints imposed by this new fabrication approach.
