University of Twente Student Theses


3D weaving of continuous fiber reinforced soft robot

Goshtasbi, A. (2023) 3D weaving of continuous fiber reinforced soft robot.

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Abstract:The ability to control stiffness plays an essential role in soft robotics actuation. One of the most common methods of stiffness control in soft robotics is continuous fiber reinforcement due to the mechanical properties provided by this method, such as higher Young's modulus and inextensibility. Precision and repeatability play a significant role in the robot's performance in continuous fiber reinforcement. Despite the importance of precision and popularity of this continuous fiber reinforcement, most current methods are either manual or limited in patterns. Therefore, this thesis presents a new automatic method to employ conventional Fused Deposition Modeling (FDM) printers to print a loom and employ head changing mechanism to use a fiber extruder to weave the continuous fibers around the loom and create complex 3D geometries required for soft robotics applications. In addition, this work investigated how this method enables us to have more control over the stiffness of the soft material by changing the loom parameters such as diameter and distance and the placement of the pins. Furthermore, inspired by a handcrafting technique, straw weaving, we used the pins to add vertical fibers to the structure to create more actuation possibilities. Various soft actuators were fabricated to present the method's capability in creating complex and 3D structures.
Item Type:Essay (Master)
Faculty:ET: Engineering Technology
Programme:Mechanical Engineering MSc (60439)
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