A Framework for Soft Mechanism Driven Robots

A Framework for Soft Mechanism Driven Robots | Research Square window.SnipcartSettings = { analytics: { enabled: false } }; (function() { var accessVector = localStorage.getItem('access_vector') || ''; window.dataLayer = window.dataLayer || []; if (accessVector) { window.dataLayer.push({ user: { profile: { profileInfo: { snid: accessVector } } } }); } })(); (function(w,d,s,l,i){w[l]=w[l]||[];w[l].push({'gtm.start':new Date().getTime(),event:'gtm.js'});var f=d.getElementsByTagName(s)[0],j=d.createElement(s),dl=l!='dataLayer'?'&l='+l:'';j.async=true;j.src='https://www.googletagmanager.com/gtm.js?id='+i+dl;f.parentNode.insertBefore(j,f);})(window,document,'script','dataLayer','GTM-K279D39R'); Browse Preprints In Review Journals COVID-19 Preprints AJE Video Bytes Research Tools Research Promotion AJE Professional Editing AJE Rubriq About Preprint Platform In Review Editorial Policies Our Team Advisory Board Help Center Sign In Submit a Preprint Cite Share Download PDF Article A Framework for Soft Mechanism Driven Robots Markus Nemitz, Cem Aygül, Can Güven, Sara Frunzi, Brian Katz This is a preprint; it has not been peer reviewed by a journal. https://doi.org/ 10.21203/rs.3.rs-4109720/v1 This work is licensed under a CC BY 4.0 License Status: Published Journal Publication published 07 Feb, 2025 Read the published version in Nature Communications → Version 1 posted You are reading this latest preprint version Abstract Soft robots excel in safety and adaptability, yet their lack of structural integrity and dependency on open-curve movement paths restrict their dexterity. Conventional robots, albeit faster due to sturdy locomotion mechanisms, are typically less robust to physical insults. We introduce a new multi-material design and printing framework that extends classical mechanism design to soft robotics, synergizing the strengths of soft and rigid materials while mitigating their respective limitations. Using a tool-changer equipped with multiple extruders, we blend thermoplastics of varying Shore hardness into monolithic systems. Our strategy emulates joint-like structures through biomimicry to achieve terrestrial trajectory control while inheriting the resilience of soft robots. We demonstrate the framework by 3D printing a legged soft robotic system, comparing different mechanism syntheses and material combinations, along with their resulting movement patterns and speeds. The integration of electronics and encoders provides reliable closed-loop control for the robot, enabling its operation across various terrains including sand, soil, and rock environments. This cost-effective approach paves the way for a new era of 3D printed soft robots employable in real-world environments. Physical sciences/Engineering/Mechanical engineering Physical sciences/Engineering/Electrical and electronic engineering Physical sciences/Materials science/Soft materials/Polymers Full Text Additional Declarations There is NO Competing Interest. Supplementary Files AFrameworkforSoftMechanismDrivenRobotsSupplementary.pdf A Framework for Soft Mechanism Driven Robots - Supplementary Information DatafileS1.zip Data file S1 DatafileS2.zip Data file S2 DatafileS3.zip Data file S3 DatafileS4.zip Data file S4 DatafileS5.zip Data file S5 DatafileS6.zip Data file S6 DatafileS7.zip Data file S7 DatafileS8.zip Data file S8 DatafileS9.zip Data file S9 DatafileS10.zip Data file S10 DatafileS11.zip Data file S11 DatafileS12.zip Data file S12 MovieS1.zip Movie S1 MovieS2.zip Movie S2 MovieS3.zip Movie S3 MovieS4.zip Movie S4 MovieS5.zip Movie S5 MovieS6.zip Movie S6 Cite Share Download PDF Status: Published Journal Publication published 07 Feb, 2025 Read the published version in Nature Communications → Version 1 posted You are reading this latest preprint version Research Square lets you share your work early, gain feedback from the community, and start making changes to your manuscript prior to peer review in a journal. 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