Printable hydraulics: A method for fabricating robots by 3D co-printing solids and liquids

@article{MacCurdy2016PrintableHA,
  title={Printable hydraulics: A method for fabricating robots by 3D co-printing solids and liquids},
  author={Robert MacCurdy and Robert K. Katzschmann and Youbin Kim and Daniela Rus},
  journal={2016 IEEE International Conference on Robotics and Automation (ICRA)},
  year={2016},
  pages={3878-3885}
}
This paper introduces a novel technique for fabricating functional robots using 3D printers. Simultaneously depositing photopolymers and a non-curing liquid allows complex, pre-filled fluidic channels to be fabricated. This new printing capability enables complex hydraulically actuated robots and robotic components to be automatically built, with no assembly required. The technique is showcased by printing linear bellows actuators, gear pumps, soft grippers and a hexapod robot, using a… 

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