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dc.contributor.authorMilana, Edoardo
dc.contributor.authorBellotti, Mattia
dc.contributor.authorGorissen, Benjamin
dc.contributor.authorQian, Jun
dc.contributor.authorDe Volder, Michaël
dc.contributor.authorReynaerts, Dominiek
dc.date.accessioned2020-07-05T23:08:26Z
dc.date.available2020-07-05T23:08:26Z
dc.date.issued2020-07-04
dc.identifier.urihttps://www.repository.cam.ac.uk/handle/1810/307623
dc.description.abstractInflatable soft microactuators typically consist of an elastic material with an internal void that can be inflated to generate a deformation. A crucial feature of these actuators is the shape of ther inflatable void as it determines the bending motion. Due to fabrication limitations, low complex void geometries are the de facto standard, severely restricting attainable motions. This paper introduces wire electrical discharge grinding (WEDG) for shaping the inflatable void, increasing their complexity. This approach enables the creation of new deformation patterns and functionalities. The WEDG process is used to create various moulds to cast rubber microactuators. These microactuators are fabricated through a bonding-free micromoulding process, which is highly sensitive to the accuracy of the mould. The mould cavity (outside of the actuator) is defined by micromilling, whereas the mould insert (inner cavity of the actuator) is defined by WEDG. The deformation patterns are evaluated with a multi-segment linear bending model. The produced microactuators are also characterised and compared with respect to the morphology of the inner cavity. All microactuators have a cylindrical shape with a length of 8 mm and a diameter of 0.8 mm. Actuation tests at a maximum pressure of 50 kPa indicate that complex deformation patterns such as curling, differential bending or multi-points bending can be achieved.
dc.languageen
dc.publisherMDPI
dc.subjectwire electrical discharge grinding (WEDG)
dc.subjectmicromoulding
dc.subjectsoft microrobotics
dc.subjectelectrical discharge machining (EDM)
dc.titleShaping Soft Robotic Microactuators by Wire Electrical Discharge Grinding
dc.typeArticle
dc.date.updated2020-07-05T23:08:25Z
prism.issueIdentifier7
prism.publicationNameMicromachines
prism.volume11
dc.identifier.doi10.17863/CAM.54713
dcterms.dateAccepted2020-07-03
rioxxterms.versionofrecord10.3390/mi11070661
rioxxterms.versionVoR
rioxxterms.licenseref.urihttps://creativecommons.org/licenses/by/4.0/
dc.contributor.orcidMilana, Edoardo [0000-0003-3389-3039]
dc.contributor.orcidQian, Jun [0000-0002-2203-7352]
dc.contributor.orcidDe Volder, Michaël [0000-0003-1955-2270]
dc.identifier.eissn2072-666X
pubs.funder-project-idFonds Wetenschappelijk Onderzoek (G082316N)
pubs.funder-project-idHorizon 2020 Framework Programme (767589)


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