3D-printed silicone rubber for gas-driven soft robots

Abstract

Silicone rubber, widely recognized for its exceptional properties, has encountered significant limitations in traditional manufacturing processes when applied to complex structures such as flexible actuators and soft robots. While additive manufacturing, particularly 3D direct writing printing, has emerged as a transformative technology for creating intricate structures with diverse materials, its application in silicone rubber for soft robotics remains underdeveloped and warrants further exploration. Therefore, to address these challenges, this study proposes 3D-printed silicone rubber for gas-driven soft robots. The extrusion process of silicone rubber was simulated using a flow field model, and its shear-thinning characteristics were verified through rheological testing to ensure that it was suitable for direct ink writing. Furthermore, the influence mechanism of wall thickness, number, length, and input air pressure on the bending deformation of the tentacle was analyzed using finite element simulations. Subsequently, a soft tentacle with a gradient structure was successfully prepared, and a pneumatic control system was built to enable clamping and extraction functions. By using direct ink writing, this study provided a new technical solution for soft robots from material property control to integrated manufacturing of functional structures. These findings are expected to enhance the development of silicone rubber for gas-driven soft robots.

Keywords

3D printing / direct writing / soft robots / additive manufacturing

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Central South University