自动化制造气动织物执行器，提升精度与效率
Weld n'Cut: Automated fabrication of inflatable fabric actuators
- 用超声波焊接和振刀切割实现全自动组装
- 可处理复杂几何结构，支持多种织物材料
- 开源平台适合软体机器人研发与可穿戴设备制造
轻质耐用的纺织品基气动软执行器广泛应用于软体机器人，尤其在康复可穿戴设备和高强度作业中增强人体能力。传统制造需多步操作：热封面料通过热压机粘合，非粘连遮蔽层定义内部腔室，但后续需手动移除遮蔽层，过程繁琐且易出错。为解决此问题并提升气动执行器的精度与性能，我们提出Weld n'Cut平台——一个开源的自动化制造流程，结合超声波焊接熔合织物层与振荡刀具进行精准切割，可生成任意复杂几何结构的气动装置。我们在多种材料和设计上验证了该机器的性能表现。
原文摘要 · Abstract (English)
Lightweight, durable textile-based inflatable soft actuators are widely used in soft robotics, particularly for wearable robots in rehabilitation and in enhancing human performance in demanding jobs. Fabricating these actuators typically involves multiple steps: heat-sealable fabrics are fused with a heat press, and non-stick masking layers define internal chambers. These layers must be carefully removed post-fabrication, often making the process labor-intensive and prone to errors. To address these challenges and improve the accuracy and performance of inflatable actuators, we introduce the Weld n'Cut platform-an open-source, automated manufacturing process that combines ultrasonic welding for fusing textile layers with an oscillating knife for precise cuts, enabling the creation of complex inflatable structures. We demonstrate the machine's performance across various materials and designs with arbitrarily complex geometries.
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