Abstract

This Project has analysed the potential of bimaterial structures partially manufactured using additive manufacturing processes for applications in soft robotics. To this end, 12 joint configurations were designed and manufactured, combining a rigid material (PLA), manufactured using FFF, with a flexible material (Elastosil), produced by moulding. The different configurations were characterised through tensile and bending tests.

The results show that disconnected architectures provide greater flexibility, achieving larger displacements under lower loads, although at the expense of lower tensile strength. Conversely, architectures with greater connectivity between the PLA sections provide a higher load-bearing capacity, but require greater forces to achieve the same displacement.

The intermediate configurations therefore provide a compromise between flexibility and load-bearing capacity. In particular, Type 2 and Type 3 joints combine significant deformation with a high load-bearing capacity, making them particularly suitable for handling applications in soft robotics.

Overall, the results obtained provide criteria for selecting the most appropriate architecture according to the required flexibility and strength, and provide a basis for the future design of articulated components and handling elements for soft robots.