Vision-based FDM Printing for Fabricating Airtight Soft Actuators

作     者：Wu, Yijia Dai, Zilin Liu, Haotian Wang, Lehong Nemitz, Markus P. 

作者机构：Department of Robotics Engineering Worcester Polytechnic Institute 100 Institute Road WorcesterMA01609 United States Department of Computer Science Worcester Polytechnic Institute 100 Institute Road WorcesterMA01609 United States Department of Mechanical and Materials Engineering Worcester Polytechnic Institute 100 Institute Road WorcesterMA01609 United States Department of Electrical and Computer Engineering Worcester Polytechnic Institute 100 Institute Road WorcesterMA01609 United States 

出 版 物：《arXiv》 (arXiv)

年 卷 期：2023年

核心收录：

主　　题：Pneumatic actuators 

摘      要：Pneumatic soft robots are typically fabricated by molding, a manual fabrication process that requires skilled labor. Additive manufacturing has the potential to break this limitation and speed up the fabrication process but struggles with consistently producing high-quality prints. We propose a low-cost approach to improve the print quality of desktop fused deposition modeling by adding a webcam to the printer to monitor the printing process and detect and correct defects such as holes or gaps. We demonstrate that our approach improves the air-tightness of printed pneumatic actuators while reducing the need for fine-tuning printing parameters. Our approach presents a new option for robustly fabricating airtight, soft robotic actuators. Copyright © 2023, The Authors. All rights reserved.