外骨格型ソフトアクチュエータのための多軸3Dプリンタの開発

抄録

The exoskeleton type soft actuator using the 3D printer and the existing flexible tube can change the operation characteristics depending on the skeleton shape, and the airtightness is also guaranteed. Therefore, it is useful as a soft actuator. The exoskeleton type soft actuator can solve the delamination problem by arranging the operation direction and the stacking direction of the FDM type 3D printer perpendicularly. However, in the conventional FDM type 3D printer, there is a limitation on a shape that can be manufactured due to lamination in only one direction. In this paper, we have developed a slicer and a printer that enable stacking in a fan shape. By stacking in a fan shape, it is possible to manufacture an actuator useful for a joint on a cylinder.