Abstract
In recent years, the integration of soft and rigid robotics also known as hybrid robotics has shown significant promises in the advancement of robotic systems by providing the potential for safe and adaptive interaction while simultaneously offering high load capacity. Nonetheless, the fabrication of hybrid robotic systems is usually characterized as a complex and time-consuming process, due to its multi-step nature, necessity of manual assembly, and formidable challenge of bonding between soft and rigid materials. In this paper we present a novel bonding technique for additive manufacturing of hybrid robotic systems via FDM process. We demonstrate our technique with in a commercially available FDM 3D printer for the fabrication of a low-cost, fully 3D printed modular hybrid hand with distributed tactile sensing. Our technique shows strong bonding between TPU and PLA, with a 6-fold increase in the debonding force. The research not only demonstrates the feasibility of a simple and low-cost additive manufacturing approach for hybrid manipulators, but also lays the groundwork for future studies into the optimization of fabrication strategies for hybrid robotics.
Original language | English |
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Title of host publication | 2024 10th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics, BioRob 2024 |
Publisher | IEEE |
Pages | 1107-1112 |
Number of pages | 6 |
ISBN (Electronic) | 9798350386523 |
DOIs | |
Publication status | Published - 23 Oct 2024 |
Event | 10th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics, BioRob 2024 - Heidelberg, Germany Duration: 1 Sept 2024 → 4 Sept 2024 Conference number: 10 https://www.biorob2024.org/ |
Publication series
Name | Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics |
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ISSN (Print) | 2155-1774 |
Conference
Conference | 10th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics, BioRob 2024 |
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Abbreviated title | BioRob 2024 |
Country/Territory | Germany |
City | Heidelberg |
Period | 1/09/24 → 4/09/24 |
Internet address |
Keywords
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