Topology optimized multi-material self-healing actuator with reduced out of plane deformation

Wang, Zhanwei; Terryn, Seppe; Legrand, J; Ferrentino, Pasquale; Tabrizian, Seyedreza Kashef; Brancart, Joost; Roels, Ellen; Assche, Guy Van; Vanderborght, Bram

doi:10.1109/iros47612.2022.9981297

Cited by 4 publications

(2 citation statements)

References 22 publications

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“…The reversible DA crosslinks present in both DPBM‐FT3000‐r1 and DPBM‐FT5000‐r0.5 elastomers allow for thermal reprocessing above their gel transition temperature using formative manufacturing methods such as casting, compression molding, and injection molding, [ 51 ] as well as additive manufacturing techniques. [ 52 ] This is in high contrast to traditional elastomers used in industries like NBR (Nitrile butadiene rubber), NR (Natural rubber), and SIR (Silicone), which undergo irreversible crosslinking during manufacturing and cannot be reprocessed.…”

Section: Resultsmentioning

confidence: 99%

Self‐Closing and Self‐Healing Multi‐Material Suction Cups for Energy‐Efficient Vacuum Grippers

Wang,

Terryn,

Wang

et al. 2023

Advanced Intelligent Systems

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While vacuum grippers offer an economical solution, the environmental impact of energy waste through their suction cups (SCs) cannot be overlooked. This waste stems from three key factors: i) air losses from idle SCs arranged in arrays, ii) inadequate sealing on target surfaces leading to air leaks, and iii) damage from sharp objects resulting in leaking perforations. To overcome these challenges, in this article, a comprehensive approach is presented that involves the development of a i) self‐closing, ii) multi‐material, and iii) self‐healing system based on reversible elastomers cross‐linked via the Diels–Alder (DA) reaction. The system incorporates a fully autonomous self‐closing mechanism to prevent energy waste in SC arrays during periods of non‐contact. Fluid–structure interaction simulations are utilized to analyze the design. Versatility and stability are achieved by incorporating hyper‐flexible and stiff elastomers in a multi‐material design, supported by covalent DA cross‐links that ensure robustness through high‐strength multi‐material interfaces. These DA cross‐links also enable self‐healing capabilities, allowing the SCs to recover from macroscopic damages within 1 day at ambient conditions or in a single hour with mild heating (80–90 °C), restoring full performance. Additionally, in the article, a recycling method is introduced for multi‐material SCs based on the mechanical separation of reversible polymers.

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Section: Resultsmentioning

confidence: 99%

Self‐Closing and Self‐Healing Multi‐Material Suction Cups for Energy‐Efficient Vacuum Grippers

Wang,

Terryn,

Wang

et al. 2023

Advanced Intelligent Systems

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“…This unique feature not only presents significant potential for material recycling but also enables a wide array of processing techniques to be employed [14]. These techniques encompass formative manufacturing methods such as casting [26], injection molding [27], and compression molding [28], as well as additive manufacturing approaches including fused filament fabrication [29,30], direct ink writing [31], and selective laser sintering [32]. Moreover, assembly and binding techniques can also be utilized with these polymers [14,15].…”

Section: Introductionmentioning

confidence: 99%

Fast Self-Healing at Room Temperature in Diels–Alder Elastomers

Safaei,

Brancart,

Wang

et al. 2023

Polymers

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Despite being primarily categorized as non-autonomous self-healing polymers, we demonstrate the ability of Diels–Alder polymers to heal macroscopic damages at room temperature, resulting in complete restoration of their mechanical properties within a few hours. Moreover, we observe immediate partial recovery, occurring mere minutes after reuniting the fractured surfaces. This fast room-temperature healing is accomplished by employing an off-stoichiometric maleimide-to-furan ratio in the polymer network. Through an extensive investigation of seven Diels–Alder polymers, the influence of crosslink density on self-healing, thermal, and (thermo-)mechanical performance was thoroughly examined. Crosslink density variations were achieved by adjusting the molecular weight of the monomers or utilizing the off-stoichiometric maleimide-to-furan ratio. Quasistatic tensile testing, dynamic mechanical analysis, dynamic rheometry, differential scanning calorimetry, and thermogravimetric analysis were employed to evaluate the individual effects of these parameters on material performance. While lowering the crosslink density in the polymer network via decreasing the off-stoichiometric ratio demonstrated the greatest acceleration of healing, it also led to a slight decrease in (dynamic) mechanical performance. On the other hand, reducing crosslink density using longer monomers resulted in faster healing, albeit to a lesser extent, while maintaining the (dynamic) mechanical performance.

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Autonomous Testing of the Repeatable Healability of Pneumatic Self-Healing Soft Actuators

Legrand,

Abdulali,

Hardman

et al. 2023

Robotics Reports

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Topology optimized multi-material self-healing actuator with reduced out of plane deformation

Abstract: with details of the nature of the infringement. We will investigate the claim and if justified, we will take the appropriate steps.

Cited by 4 publications

References 22 publications

Self‐Closing and Self‐Healing Multi‐Material Suction Cups for Energy‐Efficient Vacuum Grippers

Self‐Closing and Self‐Healing Multi‐Material Suction Cups for Energy‐Efficient Vacuum Grippers

Fast Self-Healing at Room Temperature in Diels–Alder Elastomers

Autonomous Testing of the Repeatable Healability of Pneumatic Self-Healing Soft Actuators

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