Soft robots, known for their flexible and gentle movements, have gained prominence in precision tasks and handling delicate objects. Most soft grippers developed thus far have relied on molding processes using high-elasticity rubber, which requires additional molds to produce new shapes, limiting design flexibility. To address this constraint, we present a novel approach of fabricating pneumatic soft grippers using thermoplastic polyurethanes (TPU) through the Fused Filament Fabrication (FFF) technique. The FFF technique enables the creation of various gripper shapes without the need for additional molds, allowing for enhanced design freedom. The soft grippers were designed to respond to applied air pressure, enabling controlled bending actions. To evaluate their performance, we conducted quantitative measurements of the gripper’s shape deformation under different air pressure conditions. Moreover, force measurements were performed during gripper operation by varying the applied air pressure and adjusting the mounting angle. The results of this study provide valuable insights into the design and control of soft grippers fabricated using TPU and the FFF process. This approach offers promising opportunities for employing soft robots in various fields and paves the way for further advancements in robotics technology.
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Additive manufacturing processes have been called by a wide variety of terms since the early days of development. As these names are often mixed academically and industrially, the demand for standardization of terms has gradually increased. Accordingly, the American Society for Testing Materials (ASTM) and the International Organization for Standardization (ISO) are in the process of establishing standards for the names and definitions of important terms related to additive manufacturing. Although Korea has also begun to establish KS standards based on ISO/ASTM standards, the Korean language and definitions of important terms related to additive manufacturing as defined by ISO/ASTM have not been fully organized. Therefore, the similar terms defined in ISO/ASTM in many academic and industrial literature are called by various Korean terms. Thus, this work deals with suggestions on the Korean terminologies and standardization of important terms related to additive manufacturing based on ISO/ASTM standards. Especially, this paper deals with the Additive Manufacturing and seven sub-process classifications.
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Multi-material Additive Manufacturing (AM) is being focused to apply for direct manufacturing of a product. In this paper, a three-dimensional circuit device (3DCD) fabrication technology based on the multi-material AM technology was proposed. In contrast with conventional two-dimensional Printed Circuit Board (PCB), circuit elements and conducting wires of 3DCD are placed in threedimensional configuration at multiple layers of the structure. Therefore, 3DCD technology can improve design freedom of an electronic product. In this paper, 3DCD technology is proposed based on AM technology. Two types of 3DCD fabrication systems were developed based on the Stereolithography and the Fused Deposition Modeling technologies. And the 3DCD samples which have same function were fabricated, successfully.
A worm screw is widely used in a geared motor unit for motion conversion from rotation to linear. For mass production of a high quality worm, the current rolling process is substituted with the milling process. Since the milling process enables the integration of all operations of worm manufacturing on a CNC(Computer Numerical Control) lathe, productivity can be remarkably improved. In this study, the tooling system for side milling on a CNC lathe to improve machinability is developed. However, the cutting tool-workpiece interference is important factors to be considered for producing high quality worms. For adaptability of various worms machining, the tool-workpiece interference simulation system based on a tool-tip trajectory model is developed. The developed simulation system is verified through several kinds of worms and experimental results.
Micro-abrasive Jet Machining is one of the new technology which enables micro-scale machining on the surface of high brittle materials. In this technology it is very important to fabricate a mask that prevents excessive abrasives not to machine un-intend surface. Our previous work introduced the micro-stereolithography technology for the mask fabrication. And is good to not only planar material but also for non-planar materials. But the technology requires a 3 dimensional mask CAD model which is perfectly matched with the surface topology of parent material as an input. Therefore there is strong need to develop an automated modeling technology which produce adequate 3D mask CAD model in fast and simple way. This paper introduces a fast and simple mask modeling algorithm which represents geometry of models in voxel. Input of the modeling system is 2D pattern image, 3D CAD model of parent material and machining parameters for Micro-abrasive Jet Machining. And the output is CAD model of 3D mask which reflects machining parameters and geometry of the parent material. Finally the suggested algorithm is implemented as software and verified by some test cases.
It has been reported that the photopolymer solidification in the stereolithogrpahy process is mainly depend on the laser exposure conditions such as laser power and scanning speed. However, these researches were focused on the vertical laser exposure onto the surface of the photopolymer. In this research, we developed a mathematical model for the photopolymer solidification under the inclined laser beam exposure. Using the developed mathematical model, the photopolymer solidifications were simulated varying inclined laser exposure conditions. Developed mathematical model was in good agreement with the experimental result. This research can be applied to improve the surface roughness in the stereolithogrpahy process.
Recently, it has been reported that mechanical stimulation takes a role in improving cell growth. Also, became generally known that skeletal system as bone or cartilage tissues take influence of compression loading. In this study, we fabricated a custom-made bioreactor and analyzed that conditions of compressive loading would influence cell growth. To compare the effect of intermittent compressive loading on cell-encapsulated agarose scaffold, we cultured preosteoblast cell (MC3T3-E1 cells) statically and dynamically. And dynamic culture conditions were produced by changing parameters such as the iteration time and interval delay time. Also, cellencapsulated agarose scaffold were subjected to 10 % dynamic compressive strain at 1㎐ frequency for 7 days. After cell culture, cell proliferation was assessed with PI stain assay for fluorescence images and flow cytometry (FACS).
A worm screw is widely used in a geared motor unit for motion conversion from rotation to linear. For mass production of a high quality worm, the current rolling process is substituted with the milling process. Since the milling process enables the integration of all operations of worm manufacturing on a CNC(Computer Numerical Control) lathe, productivity can be remarkably improved. In this study, the tooling system for planetary milling on a CNC lathe to improve machinability is developed. However, the cutting tool-workpiece interference is important factors to be considered for producing high quality worms. For adaptability of various worms machining, the tool-workpiece interference simulation system based on a tool-tip trajectory model is developed. The developed simulation system is verified through several kinds of worms and experimental results.
It has been reported that mechanical stimulation takes a role in improving cell growth in skeletal system. Various research groups have been showed their own bioreactors which stimulate ceel-seed three-dimensional scaffold. In this study, we hypothesized that the various conditions of mechanical stimulation would affect cell growth and proliferation. To prove our hypothesis, we designed a custom-made bioreactor capable of applying controlled compression to cell-encapsulated scaffolds. This device consisted of a circulation system and a compression system. Each parts of the bioreactor was fabricated using the rapid prototyping technology. By using the rapid prototyping technology, we can modify and improve the bioreactor very rapidly. For dynamic cell culture, cell-encapsulated agarose gel was fabricated in 2% concentration. We performed dynamic cell culture using this agarose gel and developed bioreactor in 3 days.
Micro-machining of a brittle material such as glass, silicon, etc., is important in micro fabrication. Particularly, micro-abrasive jet machining (μ-AJM) has become a useful technique for micro-machining of such materials. The μ-AJM process is mainly based on the erosion of a mask which protects brittle substrate against high velocity of micro-particle. Therefore, fabrication of an adequate mask is very important. Generally, for the fabrication of a mask in the μ-AJM process, a photomask based on the semi-conductor fabrication process was used. In this research a rapid mask fabrication technology has been developed for the μ-AJM. By scanning the focused UV laser beam, a micro-mask pattern was fabricated directly without photolithography process and photomask. Two kinds of mask patterns were fabricated using SU-8 and photopolymer (Watershed 11110). Using fabricated mask patterns, abrasive-jet machining of Si wafer were conducted successfully.
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