Biomimetic Robotic Mechanisms via Shape Deposition Manufacturing

Bailey, Sean A.; Cham, Jorge; Cutkosky, Mark R.; Full, Robert J.

doi:10.1007/978-1-4471-0765-1_49

Cited by 69 publications

(38 citation statements)

References 8 publications

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“…The resulting sheet can then be released and further machined for actuator attachment, metal deposition, or other additive or subtractive processes. This composite process shares similarities with Shape Deposition Manufacturing (22) and Smart Composite Microstructures (23), both of which were established as rapid fabrication techniques for composite robotic structures.…”

Section: Processmentioning

confidence: 99%

Programmable matter by folding

Hawkes

Benbernou

et al. 2010

Proc. Natl. Acad. Sci. U.S.A.

577

474

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Programmable matter is a material whose properties can be programmed to achieve specific shapes or stiffnesses upon command. This concept requires constituent elements to interact and rearrange intelligently in order to meet the goal. This paper considers achieving programmable sheets that can form themselves in different shapes autonomously by folding. Past approaches to creating transforming machines have been limited by the small feature sizes, the large number of components, and the associated complexity of communication among the units. We seek to mitigate these difficulties through the unique concept of self-folding origami with universal crease patterns. This approach exploits a single sheet composed of interconnected triangular sections. The sheet is able to fold into a set of predetermined shapes using embedded actuation. To implement this self-folding origami concept, we have developed a scalable end-to-end planning and fabrication process. Given a set of desired objects, the system computes an optimized design for a single sheet and multiple controllers to achieve each of the desired objects. The material, called programmable matter by folding, is an example of a system capable of achieving multiple shapes for multiple functions.reconfigurable robotics | self-assembly | multifunctional materials | computational origami E very day, scientists and engineers design new devices to solve a current problem. Each device has a unique function and thus has a unique form. The geometry of a cup is designed to hold liquid and is therefore different from that of a knife which is meant to cut. Even if both are made of the same material (e.g., metal, ceramic, or plastic), neither can perform both tasks. Is this redundancy in material, yet limitation in tasks entirely necessary? Is it possible to create a programmable material that can reshape for multiple tasks?Programmable matter is a material whose properties can be programmed to achieve specific shapes or stiffnesses upon command. In this paper we consider the theory and design of programmable matter material that can assume multiple desired shapes on demand.We have developed a unique concept of self-folding origami with universal crease patterns that decreases the complexity in individual elements and is scalable in the number and size of elements. Instead of relying on many individual subunits, which may be complex and difficult to orient correctly, we utilize a single sheet with repeated triangular tiles connected by flexible creases. This sheet can fold with a certain crease pattern to create multiple three-dimensional shapes, depending on which creases fold, in which direction, and in which order. We build on a large body of prior work in self-reconfiguring robotics to realize machines with changing shapes. Self-reconfiguring robots are modular systems whose bodies consist of multiple modules that can communicate and move relative to each other to form different shapes. These shapes support the different locomotive, manipulative, or sensing needs of the robo...

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Section: Processmentioning

confidence: 99%

Programmable matter by folding

Hawkes

Benbernou

et al. 2010

Proc. Natl. Acad. Sci. U.S.A.

577

474

View full text Add to dashboard Cite

show abstract

“…The two equilibrium equations (5) and (6) are differentiated with respect to the density and are given in (11) and (12). The input load is independent from the design variables and its derivative is zero.…”

Section: Maxmentioning

confidence: 99%

“…It is the case of the coextrusion of plastics, the shape deposition manufacturing [11], or the layered manufacturing with embedded components [12].…”

Section: Introductionmentioning

confidence: 99%

Topology synthesis of multi-material compliant mechanisms with a Sequential Element Rejection and Admission method

Alonso

Ansola

Querin

2014

Finite Elements in Analysis and Design

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The design of multi-material compliant mechanisms by means of a multi Sequential Element Rejection and Admission (SERA) method is presented in this work. The SERA procedure was successfully applied to the design of single-material compliant mechanisms. The main feature is that the method allows material to flow between different material models. Separate criteria for the rejection and admission of elements allow material to redistribute between the pre-defined material models and efficiently achieve the optimum design. These features differentiate it to other bi-directional discrete methods, making the SERA method very suitable for the design of multimaterial compliant mechanisms. Numerous examples are presented to show the validity of the multi SERA procedure to design multi-material compliant mechanisms.

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“…Shape deposition manufacturing (SDM) is being used to fabricate multi-material parts [Bail99,Merz94,Raja01]. In SDM, by varying the materials used in the deposition process, spatial variation in the material properties of the part can be achieved.…”

Section: Related Workmentioning

confidence: 99%

Manufacturing multi-material articulated plastic products using in-mold assembly

Priyadarshi

Gupta

Gouker

et al. 2006

Int J Adv Manuf Technol

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In-mold assembly can be used to create plastic products with articulated joints. This process eliminates the need for post-molding assembly and reduces the number of parts being used in the product, hence improving the product quality. However, designing both products and molds is significantly more challenging in case of in-mold assembly. Currently, a systematic methodology does not exist for developing product and processes to exploit potential benefits of in-mold assembly for creating articulated joints. This paper is a step towards creating such a methodology and reports the following three results. First, it presents a model for designing assemblies and molding process so that the joint clearances and variation in the joint clearances can meet the performance goals. Second, it describes proven mold design templates for realizing revolute, prismatic, and spherical joints. Third, it describes a mold design methodology for designing molds for products that contain articulated joints and will be produced using in-mold assembly process. Three case studies are also presented to illustrate how in-mold assembly process can be used to create articulated devices.

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Biomimetic Robotic Mechanisms via Shape Deposition Manufacturing

Cited by 69 publications

References 8 publications

Programmable matter by folding

Programmable matter by folding

Topology synthesis of multi-material compliant mechanisms with a Sequential Element Rejection and Admission method

Manufacturing multi-material articulated plastic products using in-mold assembly

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