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Robert MacCurdy

Possible papers associated with this exact author name in Arrow. This page groups case-insensitive exact name matches and is not a full identity disambiguation profile.

2 papers
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2

ICRA Conference 2016 Conference Paper

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

  • Robert MacCurdy
  • Robert K. Katzschmann
  • Youbin Kim
  • Daniela Rus

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 commercially-available 3D printer. We detail the steps required to modify the printer and describe the design constraints imposed by this new fabrication approach.

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IROS Conference 2016 Conference Paper

Printable programmable viscoelastic materials for robots

  • Robert MacCurdy
  • Jeffrey I. Lipton
  • Shuguang Li 0005
  • Daniela Rus

Impact protection and vibration isolation are an important component of the mobile robot designer's toolkit; however, current damping materials are available only in bulk or molded form, requiring manual fabrication steps and restricting material property control. In this paper we demonstrate a new method for 3D printing viscoelastic materials with specified material properties. This method allows arbitrary net-shape material geometries to be rapidly fabricated and enables continuously varying material properties throughout the finished part. This new ability allows robot designers to tailor the properties of viscoelastic damping materials in order to reduce impact forces and isolate vibrations. We present a case study for using this material to create jumping robots with programmed levels of bouncing.

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