| About this Abstract |
| Meeting |
2021 Annual International Solid Freeform Fabrication Symposium (SFF Symp 2021)
|
| Symposium
|
Applications
|
| Presentation Title |
Robotic Applications of Mechanical Metamaterials Produced Using SLA 3D Printing: Cthulhu-Morphic Grippers |
| Author(s) |
William Yerazunis, Erin Solomon |
| On-Site Speaker (Planned) |
William Yerazunis |
| Abstract Scope |
A multi-tentacular 3D-printed soft robotic gripper with 12 independently actuated degrees of freedom (DoF) is developed and tested. The gripper achieves both broad flexibility of each tentacle and high overall strength of the gripper by creating each tentacle from a SLA printed mechanical metamaterial. This additive manufacturing method was paramount to the success of this design because key features of the chosen architecture could not have been easily manufactured any other way. With the exception of the steel-cable tendons, 100% of the actual tentacles are 3D printed. The gripper uses RC servos and tension cables to provide +/- 120° of flex range per tentacle section, with centralized control. The gripper is quantitatively evaluated for grip strength for multiple objects, grip modes and pull directions. With an axial lift strength well in excess of 100 N (lifting > 10 kg) the gripper is strong enough to be useful in industrial applications. |
| Proceedings Inclusion? |
Definite: Post-meeting proceedings |