This work introduces a novel technique for fabricating functional robots using 3D printers. Simultaneously depositing 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 assembly 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.
@article{arxiv.1512.03744,
title = {Printable Hydraulics: A Method for Fabricating Robots by 3D Co-Printing Solids and Liquids},
author = {Robert MacCurdy and Robert Katzschmann and Youbin Kim and Daniela Rus},
journal= {arXiv preprint arXiv:1512.03744},
year = {2015}
}
Comments
This paper was submitted prematurely and is incomplete. Please do not link to or distribute this version as it is not yet ready for a broad audience. We are revising