Mechanical assembly of soft deployable structures and robots

Wei Wang, Sung Hoon Ahn

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Scopus citations

Abstract

This work describes the approaches of fabricating soft deployable structures using smart materials based soft hinge actuators combining a soft matrix and hinge-like movement through a rigid framework. The soft hinge actuator has the advantage of being simple to fabricate, inexpensive, lightweight and simple to actuate. This primary actuator can then be used to form modules capable of deployable deformation, which can then be assembled into deployable structures. The design of soft deployable structures is based on three principles: Design of primary hinge actuators, assembly of modules and assembly of modules into large-scale deployable structures. This work describes both the non-dismountable and the dismountable modular assembling methods for constructing the deployable structures. The non-dismountable assembly is constructed by assembling the modules using 3D printed mechanical joints. Meanwhile, the dismountable assembly is constructed using identical soft deployable modules with embedded magnetic elements as the dismountable connectors. Then, by assembling identical soft deploy modules in different manners, different types of soft deployable structures can be easily and fast built and tested by re-utilizing the modules. The proposed approaches highlight the robust strategies for the rapid and simple prototyping of various complex soft deployable structures and robots.

Original languageEnglish
Title of host publication2018 IEEE International Conference on Soft Robotics, RoboSoft 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages222-227
Number of pages6
ISBN (Electronic)9781538645161
DOIs
StatePublished - 2018 Jul 5
Event1st IEEE International Conference on Soft Robotics, RoboSoft 2018 - Livorno, Italy
Duration: 2018 Apr 242018 Apr 28

Publication series

Name2018 IEEE International Conference on Soft Robotics, RoboSoft 2018

Conference

Conference1st IEEE International Conference on Soft Robotics, RoboSoft 2018
CountryItaly
CityLivorno
Period18/04/2418/04/28

Keywords

  • Deployable Structures
  • Module Assembly
  • Shape Memory Alloy (SMA)
  • Soft Robotics

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  • Cite this

    Wang, W., & Ahn, S. H. (2018). Mechanical assembly of soft deployable structures and robots. In 2018 IEEE International Conference on Soft Robotics, RoboSoft 2018 (pp. 222-227). (2018 IEEE International Conference on Soft Robotics, RoboSoft 2018). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROBOSOFT.2018.8404923