2015/12/11 by Robert MacCurdy, MacCurdy, Robert, Robert K. Katzschmann +5 · 2 citations
Engineering · Physics and Astronomy · #FOS: Computer and information sciences #Micro and Nano Robotics #Modular Robots and Swarm Intelligence #Robotics (cs.RO) #Soft Robotics and Applications
paper · pdf · doi:10.48550/arxiv.1512.03744
openalex publication_date 2015/12/11 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
This work introduces a novel technique for fabricating functional robots using 3D printers. Simultaneously depositing photopolymers and a non-curing liquid allows complex, pre-filled fluidic channels to be fabricated. This new printing capability enables complex hydraulically actuated robots and robotic components to be automatically built, with no assembly required. The technique is showcased by printing linear bellows actuators, gear pumps, soft grippers and a hexapod robot, using a commercially-available 3D printer. We detail the steps required to modify the printer and describe the design constraints imposed by this new fabrication approach.