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Title
Japanese:ソフトロボットのための真空内注型法の提案と検証実験 
English: 
Author
Japanese: 石川雄大, 難波江裕之, 鈴森康一.  
English: Yuta Ishikawa, Hiroyuki Nabae, Koichi Suzumori.  
Language Japanese 
Journal/Book name
Japanese:ロボティクス・メカトロニクス講演会2024講演論文集 
English: 
Volume, Number, Page        
Published date May 29, 2024 
Publisher
Japanese:一般社団法人 日本機械学会 
English: 
Conference name
Japanese:日本機械学会ロボティクス・メカトロニクス講演会2024 
English: 
Conference site
Japanese:栃木県宇都宮 
English: 
Abstract In the field of soft robotics, researchers and developers are exploring the use of flexible materials, such as silicone rubber, to create robots with pliable bodies. To create a three-dimensional structure using these materials, a common method is to use molding, where liquid rubber is poured into a mold and cured. To prevent molding defects, it is effective method to degas the mold by vacuuming. However, in a vacuum chamber, the position of both the mold and the liquid rubber inlet cannot be modified. Therefore, the molded shape and the rubber inlet and outlet points have to be carefully designed, resulting in lower efficiency of soft robot prototyping. To address this problem, we developed an invacuum molding system where the silicone rubber inlet can be manipulated from the outside of the vacuum chamber. In this paper, we evaluated the developed molding system and demonstrated its effectiveness in preventing molding defects.

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