Four-dimensional-printed pneumatically actuated flexible robotic joints
A robotic grasping system can include a three-dimensional (3D) printed joint, a stiff portion coupled with the 3D-printed joint, internal tubes within the 3D-printed joint, a bellows coupled with the 3D-printed joint and at least one of the internal tubes, and a pressure source configured to cause the internal tubes to pressurize or depressurize the bellows.
1. A robotic grasping system, comprising:
a first three-dimensional (3D) printed joint;
at least one first stiff portion coupled with the first 3D-printed joint;
a first plurality of internal tubes within the first 3D-printed joint;
at least one first bellows coupled with the first 3D-printed joint and at least one of the first plurality of internal tubes;
a pressure source configured to cause the first plurality of internal tubes to pressurize or depressurize the at least one first bellows;
a second 3D-printed joint;
at least one second stiff portion coupled with the second 3D-printed joint;
a first plurality of external tubes coupled with the second 3D-printed joint; and
at least one second bellows coupled with the second 3D-printed joint and at least one of the first plurality of external tubes.
2. The robotic grasping system of claim 1 , wherein the at least one first bellows is configured to cause the at least one first stiff portion to move in a certain direction responsive to the at least one first bellows being pressurized or depressurized.
3. The robotic grasping system of claim 1 , wherein the first 3D-printed joint is formed by a Fused Deposition Modeling (FDM) printer.
4. The robotic grasping system of claim 1 , further comprising a plurality of valves with the first 3D-printed joint.
5. The robotic grasping system of claim 1 , wherein the at least one second bellows is configured to cause the at least one second stiff portion to move in a certain direction responsive to the at least one second bellows being pressurized or depressurized.
6. The robotic grasping system of claim 1 , wherein the second 3D-printed joint is formed by a Fused Deposition Modeling (FDM) printer.
7. The robotic grasping system of claim 1 , further comprising:
a third 3D-printed joint;
at least one third stiff portion coupled with the third 3D-printed joint;
a second plurality of external tubes coupled with the third 3D-printed joint; and
at least one third bellows coupled with the third 3D-printed joint and at least one of the second plurality of external tubes.
8. The robotic grasping system of claim 7 , wherein the at least one third bellows is configured to cause the at least one third stiff portion to move in a certain direction responsive to the at least one third bellows being pressurized or depressurized.
9. The robotic grasping system of claim 7 , wherein the third 3D-printed joint is formed by a Fused Deposition Modeling (FDM) printer.
10. A robotic grasping system, comprising:
a first three-dimensional (3D)-printed joint;
a second 3D-printed joint;
at least one first stiff portion coupled with said first 3D-printed joint;
at least one second stiff portion coupled with said second 3D-printed joint;
a plurality of internal tubes within the first 3D-printed joint;
at least one first bellows coupled with at least one of said plurality of internal tubes;
a plurality of external tubes coupled with the second 3D-printed joint;
at least one second bellows coupled with at least one of said plurality of external tubes;
a first pressure source configured to cause the plurality of internal tubes to pressurize or depressurize the at least one first bellows; and
a second pressure source configured to cause the plurality of external tubes to pressurize or depressurize the at least one second bellows.
11. The robotic grasping system of claim 10 , wherein the at least one first bellows is configured to cause the at least one first stiff portion to move in a certain direction responsive to the at least one first bellows being pressurized or depressurized.
12. The robotic grasping system of claim 10 , wherein the at least one second bellows is configured to cause the at least one second stiff portion to move in a certain direction responsive to the at least one second bellows being pressurized or depressurized.
13. The robotic grasping system of claim 10 , wherein the first and second pressure sources are the same pressure source.
14. The robotic grasping system of claim 10 , wherein either or both of the first and second 3D-printed joints are formed by a Fused Deposition Modeling (FDM) printer.