Printable hydraulics: A method for fabricating robots by 3D co-printing solids and liquids

Abstract

This paper introduces a novel technique for fabri- cating functional robots using 3D printers. Simultaneously de- positing photopolymers and a non-curing liquid allows complex, pre-filled fluidic channels to be fabricated. This new printing capability enables complex hydraulically actuated robots and robotic components to be automatically built, with no assem- bly required. The technique is showcased by printing linear bellows actuators, gear pumps, soft grippers and a hexapod robot, using a commercially-available 3D printer. We detail the steps required to modify the printer and describe the design constraints imposed by this new fabrication approach.

BibTeX

@conference{maccurdyprintedhydraulics,
  year = {2016},
  publisher = {IEEE},
  author = {MacCurdy, R. and Katzschmann, R. and Kim, Youbin and Rus, D.},
  title = {Printable hydraulics: A method for fabricating robots by 3D co-printing solids and liquids},
  booktitle = {2016 IEEE International Conference on Robotics and Automation (ICRA)},
  pages = {3878-3885},
  doi = {10.1109/ICRA.2016.7487576},
}