Researchers at Soochow University's Robotics and Microsystem Research Center have developed a modular soft robot using dual-material 3D printing technology, aiming to enhance actuator performance and overall adaptability. The design splits actuators into strain-limiting and expansion layers, optimizing structure to improve output, service life, motion accuracy, and reliability. This approach addresses common issues like material fatigue and cracking in traditional modular designs.
Key takeaways
- Dual-material printing (hard DC737 and soft Ecoflex 00-20) enables precise control of deformation, with softer, thinner sections collapsing under negative pressure to achieve twisting motions.
- Two actuator types were developed: torsional actuators inspired by origami crease patterns, and spiral actuators with angled chambers (0°, 20°, 40°, 60°) that produce coupled bending and twisting. At 100 kPa, spiral actuators achieve over 360° helical rotation.
- Finite element analysis (Abaqus) using the Ogden hyperelastic model validated designs. Experiments showed torsional actuators reach a 75° twist angle and 30% axial contraction at -40 kPa.
- A novel mortise-and-tenon inspired connection allows modules to be easily combined in series or parallel, enabling multiple motion modes like linear, torsional, and combined movements for task flexibility.
The work demonstrates that dual-material 3D printing offers a flexible manufacturing route for modular soft robots, improving performance and enabling multifunctional task execution in complex environments. This approach could benefit applications in search-and-rescue, medical rehabilitation, and industrial automation where adaptability and safe interaction are critical.
Source: 《机器人》期刊 (robot.sia.cn) · Published 2026-01-13 · “基于双材料3D打印技术的多模式模块化软体机器人设计与实验研究”