Robotic Fiber Fabrication based on Solidification Force Control

Research output: Chapter in Book/Report/Conference proceedingConference contributionScientificpeer-review

13 Downloads (Pure)

Abstract

In this paper, we propose a robotic fiber fabrication method based on solidification force control to achieve highly repeatable mechanical properties of fibers. Dextran material is used as the specimen in the experiments. It has been chosen because of its similar rheological behavior to silk protein at high mass concentrations. However, the viscosity of dextran material is very low at its liquid phase, so force control during fabrication is challenging. Here, we propose a novel approach that controls the mechanical properties of fiber by controlling the solidification force. We employ impedance control with force tracking to control the solidification force to carry out the threading experiments and examine the benefits of the proposed approach. The repeatability of the mechanical properties of the fabricated fibers has been studied and compared using three scenarios a) fiber fabrication without solidification force control, abbreviated as FFNC, b) fiber fabrication with solidification force control after 60 seconds of solidification from the beginning of the solidification force detection abbreviated as FFWC, and c) fiber fabrication with solidification force control immediately after the detection of the solidification force, abbreviated as FFSC. The experimental results show that fibers fabricated using FFSC scenario have the highest repeatability based on the coefficient of variation of properties of the fabricated fibers, where the obtained coefficient of variation of the toughness, stiffness, elongation, and strength are 12.8%, 13.6%, 14.8%, 12.7% respectively. The experimental results also showed that fibers' mechanical properties toughness, stiffness, elongation, and strength have a negative correlation with the fabrication pulling velocity.

Original languageEnglish
Title of host publicationProceedings of MARSS 2022 - 5th International Conference on Manipulation, Automation, and Robotics at Small Scales
EditorsSinan Haliyo, Mokrane Boudaoud, Eric Diller, Xinyu Liu, Yu Sun, Sergej Fatikow
PublisherIEEE
Number of pages6
ISBN (Electronic)9781665459730
DOIs
Publication statusPublished - 2022
MoE publication typeA4 Article in a conference publication
EventInternational Conference on Manipulation, Automation and Robotics at Small Scales - Toronto, Canada
Duration: 25 Jul 202229 Jul 2022

Publication series

NameProceedings of MARSS 2022 - 5th International Conference on Manipulation, Automation, and Robotics at Small Scales

Conference

ConferenceInternational Conference on Manipulation, Automation and Robotics at Small Scales
Abbreviated titleMARSS
Country/TerritoryCanada
CityToronto
Period25/07/202229/07/2022

Keywords

  • artificial fiber threading
  • bio-mimicking
  • force control
  • impedance control
  • robotics and automation

Fingerprint

Dive into the research topics of 'Robotic Fiber Fabrication based on Solidification Force Control'. Together they form a unique fingerprint.

Cite this