Soft Growing Robotics is a subset of soft robotics concerned with designing and building robots that use robot body expansion to move and interact with the environment.
Soft growing robots are built from compliant materials and attempt to mimic how vines, plant shoots, and other organisms reach new locations through growth. While other forms of robots use locomotion to achieve their objectives, soft growing robots elongate their body through addition of new material, or expansion of material. This gives them the ability to travel through constricted areas and form a wide range of useful 3-D formations. [1] Currently there are two main soft growing robot designs: additive manufacturing and tip extension. [2] [3] Some goals of soft growing robotics development are the creation of robots that can explore constricted areas and improve surgical procedures. [4] [5] [6]
One way of extending the robot body is through additive manufacturing. Additive manufacturing generally refers to 3-D printing, or the fabrication of three dimensional objects through the conjoining of many layers of material. [7] Additive manufacturing design of a soft growing robot utilizes a modified 3-D printer at the tip of the robot to deposit thermoplastics (material that is rigid when cooled and flexible when heated) to extend the robot in the desired orientation. [3]
The body of the robot consists of:
The additive manufacturing process involves polylactic acid filament (a thermoplastic) being pulled through the tubular body of the robot by a motor in the tip. At the tip, the filament passes through a heating element, making it pliable. The filament is then turned perpendicular to the direction of robot growth and deposited onto the outer edge of a rotating disk facing the base of the robot. As the disk (known as the deposition head) rotates, new filament is deposited in spiraling layers. This filament solidifies in front of the previous layer of filament, pushing the tip of the robot forward. [3] The interactions between the temperature of the heating element, the rotation of the deposition head, and the speed the filament is fed through the heating element is precisely controlled to ensure the robot grows in the desired manner. [8]
The speed of the robot is controlled by changing the temperature of the heating element, the speed at which filament is fed through the heating element, and the speed the deposition head is spun. Speed can be defined as the function:
Where is the thickness of the deposited layer of filament, and is the angle of the helix in which the filament material is deposited.
Controlling the direction of growth (and thus the direction of robot "movement") can be done in two ways:
One of the major advantages of soft growing robots is that minimal friction exists between the outside environment and the robot. This is because only the robot tip moves relative to the environment. [3] [9] Multiple robots using additive manufacturing for growth were designed for burrowing into the soil, as less friction with the environment reduces energy required to move through the environment
A second form of soft growing robot design is tip extension. This design is characterized by a tube of material (common materials include nylon fabric, low density polyethylene, and silicone coated nylon) [10] [4] [9] pressurized with air or water that is folded into itself. By letting out the folded material, the robot extends from the tip as the pressurized tube pushes out the inner folded material. [2] [10] [4]
In contrast with additive manufacturing where new material is deposited behind the tip of the robot to push the tip forward, tip extension utilizes the internal pressure within the robot body to push out new material at the tip of the robot. Often, the tubing inside the robot body is stored on a reel to make it easier to control the release of tubing and thus robot growth. [2] [4]
Multiple methods of turning a tip extension robot have been developed. They include:
Robots utilizing the tip extension design are retractable. Current designs use a wire attached to the tip of the robot that is used to pull the tip of the robot back into the robot body. [4] [10]
The theoretical force the tip grows under can be modelled as:
Where represents the force the tip grows under, represents internal pressure, and represents cross sectional area of the robot tip. However, the experimental force the tip expands under has been found to be less than this largely due to axial tension in the robot body. A model that approximates more accurately is:
Here, is an experimentally determined constant and is yield pressure when no growth occurs. , , and , are force terms dependent on velocity, length, and curvature or the robot respectively. [9] [11]
Additionally, multiple mathematical models for various forms of turning, twisting, and retracting have been developed. [2] [1] [4]
Soft growing robots can be controlled in various ways depending on how well the objective and growth path are defined. Without a clearly defined goal or robot growth path, teleoperation is used. When a clearly defined goal exists (such as a light source), computer vision can be used to find a path to the goal and grow a robot along that path. [2] If the desired path of robot growth is known before the robot is deployed, pre-planned turning positions can be used to control the robot. [11]
Possible applications of soft growing robots focus on their low friction/interaction with the environment, their simple method of growth, and their ability to grow through cramped environments.
Chemical vapor deposition (CVD) is a vacuum deposition method used to produce high-quality, and high-performance, solid materials. The process is often used in the semiconductor industry to produce thin films.
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3D printing or additive manufacturing is the construction of a three-dimensional object from a CAD model or a digital 3D model. It can be done in a variety of processes in which material is deposited, joined or solidified under computer control, with the material being added together, typically layer by layer.
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Sputter deposition is a physical vapor deposition (PVD) method of thin film deposition by the phenomenon of sputtering. This involves ejecting material from a "target" that is a source onto a "substrate" such as a silicon wafer. Resputtering is re-emission of the deposited material during the deposition process by ion or atom bombardment. Sputtered atoms ejected from the target have a wide energy distribution, typically up to tens of eV. The sputtered ions can ballistically fly from the target in straight lines and impact energetically on the substrates or vacuum chamber. Alternatively, at higher gas pressures, the ions collide with the gas atoms that act as a moderator and move diffusively, reaching the substrates or vacuum chamber wall and condensing after undergoing a random walk. The entire range from high-energy ballistic impact to low-energy thermalized motion is accessible by changing the background gas pressure. The sputtering gas is often an inert gas such as argon. For efficient momentum transfer, the atomic weight of the sputtering gas should be close to the atomic weight of the target, so for sputtering light elements neon is preferable, while for heavy elements krypton or xenon are used. Reactive gases can also be used to sputter compounds. The compound can be formed on the target surface, in-flight or on the substrate depending on the process parameters. The availability of many parameters that control sputter deposition make it a complex process, but also allow experts a large degree of control over the growth and microstructure of the film.
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Fused filament fabrication (FFF), also known as fused deposition modeling, or filament freeform fabrication, is a 3D printing process that uses a continuous filament of a thermoplastic material. Filament is fed from a large spool through a moving, heated printer extruder head, and is deposited on the growing work. The print head is moved under computer control to define the printed shape. Usually the head moves in two dimensions to deposit one horizontal plane, or layer, at a time; the work or the print head is then moved vertically by a small amount to begin a new layer. The speed of the extruder head may also be controlled to stop and start deposition and form an interrupted plane without stringing or dribbling between sections. "Fused filament fabrication" was coined by the members of the RepRap project to give an acronym (FFF) that would be legally unconstrained in its use.
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Soft robotics is a subfield of robotics that concerns the design, control, and fabrication of robots composed of compliant materials, instead of rigid links. In contrast to rigid-bodied robots built from metals, ceramics and hard plastics, the compliance of soft robots can improve their safety when working in close contact with humans.
A variety of processes, equipment, and materials are used in the production of a three-dimensional object via additive manufacturing. 3D printing is also known as additive manufacturing, because the numerous available 3D printing process tend to be additive in nature, with a few key differences in the technologies and the materials used in this process.
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Cold spray additive manufacturing (CSAM) is a particular application of cold spraying, able to fabricate freestanding parts or to build features on existing components. During the process, fine powder particles are accelerated in a high-velocity compressed gas stream, and upon the impact on a substrate or backing plate, deform and bond together creating a layer. Moving the nozzle over a substrate repeatedly, a deposit is building up layer-by-layer, to form a part or component. If an industrial robot or computer controlled manipulator controls the spray gun movements, complex shapes can be created. To achieve 3D shape, there are two different approaches. First to fix the substrate and move the cold spray gun/nozzle using a robotic arm, the second one is to move the substrate with a robotic arm, and keep the spray-gun nozzle fixed. There is also a possibility to combine these two approaches either using two robotic arms or other manipulators. The process always requires a substrate and uses only powder as raw material.
Research on the health and safety hazards of 3D printing is new and in development due to the recent proliferation of 3D printing devices. In 2017, the European Agency for Safety and Health at Work has published a discussion paper on the processes and materials involved in 3D printing, potential implications of this technology for occupational safety and health and avenues for controlling potential hazards.