Automated Fiber Embedding for Tailoring Mechanical and Functional Properties of Soft Robot Components

Abstract

Organic and synthetic fibers present a wide range of mechanical and functional properties which are useful in fabricating sensors, actuators, and tailoring structural properties in soft robotic applications. Despite the advantages of using fibers in soft robotics, current manual approaches to embed fibers in soft materials restrict many practical applications. Automated fiber installation using commercial embroidery machines or robotic manipulators has been studied in the past but approaches lack simple work flows and good geometry control. Herein, we demonstrate a tension based methodology for automated fiber embedding in 2D patterns. The approach uses a bench top 3D printer, it starts with direct extrusion of matrix materials into a custom designed mold and uses a customized weaving template and a fiber dispensing tool head. Fibers can be embedded at specific depths, orientations, and weave densities. This approach enables tailoring of mechanical properties as well as functionalization for various soft robotics applications. Examples to increase tensile moduli in planar soft composites structures and regulate heat induced color changes in thermochromatic composites are presented.