Design of soft actuator using 3D-printed composite

This paper describes a soft composite actuator using a 3D-printed scaffold structure. The actuator consists of a scaffold structure embedded in the center and two wires embedded above and below the scaffold to generate motion. Each component is combined with a soft polymer, so it has the advantage of a soft morphing motion. When the wire is pulled, a bending based motion is generated, because of the eccentric force, according to the neutral surface of the composite actuator. The actuating shape can be designed according to the scaffold layer combination and deformation magnitude can be controlled by the length of the pulled wire. Two different scaffold structures, consisting of symmetric and asymmetric ply combinations, were used, and symmetric and asymmetric bend-twist motions (upper 4.3°, lower 25.9° twisting angle) can be realized.