Rotational Multi-material 3D Printing of Soft Robotic Matter with Asymmetrical Embedded Pneumatics

2025-05-23

AI Summary

To address the lengthy design–fabrication cycle and limited programmability of deformation modes in embedded pneumatic structures for soft robots, this work proposes a rapid prototyping method based on rotary multimaterial 3D printing. By integrating core–shell fiber directional deposition with controlled rotational printing, the spatial orientation, cross-sectional morphology, and distribution of sacrificial cores are precisely regulated. A novel connective Fermat spiral path-planning algorithm enables fully automated generation of printing trajectories for complex 3D soft architectures (e.g., biomimetic hands). Using silicone-based elastomers and low-temperature water-soluble sacrificial materials, high-fidelity embedded pneumatic channels are achieved after curing and leaching. The resulting actuators support programmable multimodal deformations—including bending, twisting, and axial contraction—with fabrication time reduced to the hour scale and pneumatic response time under 1.5 seconds.

Technology Category

• Intelligent Robots: Multimodal Perception & Sensor Fusion
• Planning, Routing, and Scheduling: Optimization of Spatio-temporal Systems
• Machine Learning: Multimodal Learning

Application Category

• Systems and Infrastructure for Web, Mobile and WoT: Experiences and lessons learnt from Web-based algorithms and system deployments
• Responsible Web: Human-perceived consequences of algorithmic deployment on the web
• Graph Algorithms and Modeling for the Web: Graph embeddings and representation learning for Web-related graphs

Abstract

The rapid design and fabrication of soft robotic matter is of growing interest for shape morphing, actuation, and wearable devices. Here, we report a facile fabrication method for creating soft robotic materials with embedded pneumatics that exhibit programmable shape morphing behavior. Using rotational multi-material 3D printing, asymmetrical core-shell filaments composed of elastomeric shells and fugitive cores are patterned in 1D and 2D motifs. By precisely controlling the nozzle design, rotation rate, and print path, one can control the local orientation, shape, and cross-sectional area of the patterned fugitive core along each printed filament. Once the elastomeric matrix is cured, the fugitive cores are removed, leaving behind embedded conduits that facilitate pneumatic actuation. Using a connected Fermat spirals pathing approach, one can automatically generate desired print paths required for more complex soft robots, such as hand-inspired grippers. Our integrated design and printing approach enables one to rapidly build soft robotic matter that exhibits myriad shape morphing transitions on demand.

Problem

• Develops rotational multi-material 3D printing for soft robotic matter
• Enables programmable shape morphing via embedded pneumatic conduits
• Automates print paths for complex soft robots like grippers

Innovation

• Rotational multi-material 3D printing
• Asymmetrical core-shell filaments
• Connected Fermat spirals pathing