Highly Stretchable and UV Curable Elastomers for Digital Light Processing Based 3D Printing.
TL;DR: Stretchable UV-curable (SUV) elastomers can be stretched by up to 1100% and are suitable for digital-light-processing (DLP)-based 3D-printing technology, which enables the direct creation of highly deformable complex 3D hollow structures such as balloons, soft actuators, grippers, and buckyball electronical switches.
Abstract: Stretchable UV-curable (SUV) elastomers can be stretched by up to 1100% and are suitable for digital-light-processing (DLP)-based 3D-printing technology. DLP printing of these SUV elastomers enables the direct creation of highly deformable complex 3D hollow structures such as balloons, soft actuators, grippers, and buckyball electronical switches.
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TL;DR: A critical overview of soft robotic grippers is presented, covering different material sets, physical principles, and device architectures, and improved materials, processing methods, and sensing play an important role in future research.
Abstract: Advances in soft robotics, materials science, and stretchable electronics have enabled rapid progress in soft grippers. Here, a critical overview of soft robotic grippers is presented, covering different material sets, physical principles, and device architectures. Soft gripping can be categorized into three technologies, enabling grasping by: a) actuation, b) controlled stiffness, and c) controlled adhesion. A comprehensive review of each type is presented. Compared to rigid grippers, end-effectors fabricated from flexible and soft components can often grasp or manipulate a larger variety of objects. Such grippers are an example of morphological computation, where control complexity is greatly reduced by material softness and mechanical compliance. Advanced materials and soft components, in particular silicone elastomers, shape memory materials, and active polymers and gels, are increasingly investigated for the design of lighter, simpler, and more universal grippers, using the inherent functionality of the materials. Embedding stretchable distributed sensors in or on soft grippers greatly enhances the ways in which the grippers interact with objects. Challenges for soft grippers include miniaturization, robustness, speed, integration of sensing, and control. Improved materials, processing methods, and sensing play an important role in future research.
1,028 citations
20 Feb 2019
TL;DR: The field of 3D printing is continuing its rapid development in both academic and industrial research environments as mentioned in this paper, which offers flexibility over the final properties of the 3D printed materials (such as optical, chemical and mechanical properties) using versatile polymer chemistry.
Abstract: The field of 3D printing is continuing its rapid development in both academic and industrial research environments. The development of 3D printing technologies has opened new implementations in rapid prototyping, tooling, dentistry, microfluidics, biomedical devices, tissue engineering, drug delivery, etc. Among different 3D printing techniques, photopolymerization-based process (such as stereolithography and digital light processing) offers flexibility over the final properties of the 3D printed materials (such as optical, chemical, and mechanical properties) using versatile polymer chemistry. The strategy behind the 3D photopolymerization is based on using monomers/oligomers in liquid state (in the presence of photoinitiators) that can be photopolymerized (via radical or cationic mechanism) upon exposure to light source of different wavelengths (depending on the photoinitiator system). An overview of recent evolutions in the field of photopolymerization-based 3D printing and highlights of novel 3D print...
621 citations
TL;DR: This Review examines the essential soft material properties for different elements of soft robots, highlighting the most relevant polymer systems and discusses advances in 3D printing technologies and soft materials for the fabrication of soft robotic systems with sophisticated capabilities, such as 3D movement and responsiveness to the environment.
Abstract: Soft robots are capable of mimicking the complex motion of animals. Soft robotic systems are defined by their compliance, which allows for continuous and often responsive localized deformation. These features make soft robots especially interesting for integration with human tissues, for example, the implementation of biomedical devices, and for robotic performance in harsh or uncertain environments, for example, exploration in confined spaces or locomotion on uneven terrain. Advances in soft materials and additive manufacturing technologies have enabled the design of soft robots with sophisticated capabilities, such as jumping, complex 3D movements, gripping and releasing. In this Review, we examine the essential soft material properties for different elements of soft robots, highlighting the most relevant polymer systems. Advantages and limitations of different additive manufacturing processes, including 3D printing, fused deposition modelling, direct ink writing, selective laser sintering, inkjet printing and stereolithography, are discussed, and the different techniques are investigated for their application in soft robotic fabrication. Finally, we explore integrated robotic systems and give an outlook for the future of the field and remaining challenges. 3D printing can be used to directly fabricate soft robots. This Review discusses advances in 3D printing technologies and soft materials for the fabrication of soft robotic systems with sophisticated capabilities, such as 3D movement and responsiveness to the environment.
541 citations
TL;DR: In this paper, the basic principles, considering the printing mechanism as well as the advantages and disadvantages, of the most relevant polymer AM technologies are described, and particular features, properties and limitations of currently employed polymer systems in the various AM technology areas are presented and analyzed.
315 citations
TL;DR: The focus here is on photopolymerization-based additive manufacturing including the recent development of new methods, novel monomers, and photoinitiators, which result in previously inaccessible applications such as complex ceramic structures, embedded electronics, and responsive 3D objects.
Abstract: The field of 3D printing, also known as additive manufacturing (AM), is developing rapidly in both academic and industrial research environments. New materials and printing technologies, which enable rapid and multimaterial printing, have given rise to new applications and utilizations. However, the main bottleneck for achieving many more applications is the lack of materials with new physical properties. Here, some of the recent reports on novel materials in this field, such as ceramics, glass, shape-memory polymers, and electronics, are reviewed. Although new materials have been reported for all three main printing approaches-fused deposition modeling, binder jetting or laser sintering/melting, and photopolymerization-based approaches, apparently, most of the novel physicochemical properties are associated with materials printed by photopolymerization approaches. Furthermore, the high resolution that can be achieved using this type of 3D printing, together with the new properties, has resulted in new implementations such as microfluidic, biomedical devices, and soft robotics. Therefore, the focus here is on photopolymerization-based additive manufacturing including the recent development of new methods, novel monomers, and photoinitiators, which result in previously inaccessible applications such as complex ceramic structures, embedded electronics, and responsive 3D objects.
314 citations
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TL;DR: In this article, the authors proposed a truncated icosahedron, a polygon with 60 vertices and 32 faces, 12 of which are pentagonal and 20 hexagonal.
Abstract: During experiments aimed at understanding the mechanisms by which long-chain carbon molecules are formed in interstellar space and circumstellar shells1, graphite has been vaporized by laser irradiation, producing a remarkably stable cluster consisting of 60 carbon atoms. Concerning the question of what kind of 60-carbon atom structure might give rise to a superstable species, we suggest a truncated icosahedron, a polygon with 60 vertices and 32 faces, 12 of which are pentagonal and 20 hexagonal. This object is commonly encountered as the football shown in Fig. 1. The C60 molecule which results when a carbon atom is placed at each vertex of this structure has all valences satisfied by two single bonds and one double bond, has many resonance structures, and appears to be aromatic. Before 1985, it was generally accepted that elemental carbon exists in two forms, or allotropes: diamond and graphite. Then, Kroto et al. identified the signature of a new, stable form of carbon that consisted of clusters of 60 atoms. They called this third allotrope of carbon 'buckminsterfullerene', and proposed that it consisted of polyhedral molecules in which the atoms were arrayed at the vertices of a truncated icosahedron. In 1990, the synthesis of large quantities of C60 [see Nature 347, 354–358 (1990)] confirmed this hypothesis.
13,394 citations
TL;DR: The synthesis of hydrogels from polymers forming ionically and covalently crosslinked networks is reported, finding that these gels’ toughness is attributed to the synergy of two mechanisms: crack bridging by the network of covalent crosslinks, and hysteresis by unzipping thenetwork of ionic crosslinks.
Abstract: Hydrogels with improved mechanical properties, made by combining polymer networks with ionic and covalent crosslinks, should expand the scope of applications, and may serve as model systems to explore mechanisms of deformation and energy dissipation. Hydrogels are used in flexible contact lenses, as scaffolds for tissue engineering and in drug delivery. Their poor mechanical properties have so far limited the scope of their applications, but new strong and stretchy materials reported here could take hydrogels into uncharted territories. The new system involves a double-network gel, with one network forming ionic crosslinks and the other forming covalent crosslinks. The fracture energy of these materials is very high: they can stretch to beyond 17 times their own length even when containing defects that usually initiate crack formation in hydrogels. The materials' toughness is attributed to crack bridging by the covalent network accompanied by energy dissipation through unzipping of the ionic crosslinks in the second network. Hydrogels are used as scaffolds for tissue engineering1, vehicles for drug delivery2, actuators for optics and fluidics3, and model extracellular matrices for biological studies4. The scope of hydrogel applications, however, is often severely limited by their mechanical behaviour5. Most hydrogels do not exhibit high stretchability; for example, an alginate hydrogel ruptures when stretched to about 1.2 times its original length. Some synthetic elastic hydrogels6,7 have achieved stretches in the range 10–20, but these values are markedly reduced in samples containing notches. Most hydrogels are brittle, with fracture energies of about 10 J m−2 (ref. 8), as compared with ∼1,000 J m−2 for cartilage9 and ∼10,000 J m−2 for natural rubbers10. Intense efforts are devoted to synthesizing hydrogels with improved mechanical properties11,12,13,14,15,16,17,18; certain synthetic gels have reached fracture energies of 100–1,000 J m−2 (refs 11, 14, 17). Here we report the synthesis of hydrogels from polymers forming ionically and covalently crosslinked networks. Although such gels contain ∼90% water, they can be stretched beyond 20 times their initial length, and have fracture energies of ∼9,000 J m−2. Even for samples containing notches, a stretch of 17 is demonstrated. We attribute the gels’ toughness to the synergy of two mechanisms: crack bridging by the network of covalent crosslinks, and hysteresis by unzipping the network of ionic crosslinks. Furthermore, the network of covalent crosslinks preserves the memory of the initial state, so that much of the large deformation is removed on unloading. The unzipped ionic crosslinks cause internal damage, which heals by re-zipping. These gels may serve as model systems to explore mechanisms of deformation and energy dissipation, and expand the scope of hydrogel applications.
3,856 citations
TL;DR: The continuous generation of monolithic polymeric parts up to tens of centimeters in size with feature resolution below 100 micrometers is demonstrated and critical control parameters are delineated and shown that complex solid parts can be drawn out of the resin at rates of hundreds of millimeters per hour.
Abstract: Additive manufacturing processes such as 3D printing use time-consuming, stepwise layer-by-layer approaches to object fabrication. We demonstrate the continuous generation of monolithic polymeric parts up to tens of centimeters in size with feature resolution below 100 micrometers. Continuous liquid interface production is achieved with an oxygen-permeable window below the ultraviolet image projection plane, which creates a "dead zone" (persistent liquid interface) where photopolymerization is inhibited between the window and the polymerizing part. We delineate critical control parameters and show that complex solid parts can be drawn out of the resin at rates of hundreds of millimeters per hour. These print speeds allow parts to be produced in minutes instead of hours.
1,787 citations
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TL;DR: This manuscript describes a unique class of locomotive robot, composed exclusively of soft materials (elastomeric polymers), which is inspired by animals that do not have hard internal skeletons, and illustrates an advantage of soft robotics.
Abstract: This manuscript describes a unique class of locomotive robot: A soft robot, composed exclusively of soft materials (elastomeric polymers), which is inspired by animals (e.g., squid, starfish, worms) that do not have hard internal skeletons. Soft lithography was used to fabricate a pneumatically actuated robot capable of sophisticated locomotion (e.g., fluid movement of limbs and multiple gaits). This robot is quadrupedal; it uses no sensors, only five actuators, and a simple pneumatic valving system that operates at low pressures (< 10 psi). A combination of crawling and undulation gaits allowed this robot to navigate a difficult obstacle. This demonstration illustrates an advantage of soft robotics: They are systems in which simple types of actuation produce complex motion.
1,716 citations
TL;DR: A class of microarchitected materials that maintain a nearly constant stiffness per unit mass density, even at ultralow density is reported, which derives from a network of nearly isotropic microscale unit cells with high structural connectivity and nanoscale features, whose structural members are designed to carry loads in tension or compression.
Abstract: The mechanical properties of ordinary materials degrade substantially with reduced density because their structural elements bend under applied load. We report a class of microarchitected materials that maintain a nearly constant stiffness per unit mass density, even at ultralow density. This performance derives from a network of nearly isotropic microscale unit cells with high structural connectivity and nanoscale features, whose structural members are designed to carry loads in tension or compression. Production of these microlattices, with polymers, metals, or ceramics as constituent materials, is made possible by projection microstereolithography (an additive micromanufacturing technique) combined with nanoscale coating and postprocessing. We found that these materials exhibit ultrastiff properties across more than three orders of magnitude in density, regardless of the constituent material.
1,525 citations