flexonics Jeremy Risner
advisor John Canny
Bioengineering Graduate Group, UCSF / UC Berkeley
Electrical Engineering and Computer Science, UC Berkeley
in collaboration with
Vivek Subramanian Electrical Engineering and Computer Science, UC Berkeley
overview
Flexonics describes our vision of a new class of mechatronic devices that differ
from their traditional counterparts in both device fabrication and design. Our goal is
to build fully functional mechatronic devices without assembly. These devices will
integrate structural, mechanical, and electronic components during fabrication
using an all inkjet printing process. We intend to develop a complete 3D printer,
and create a vocabulary of flexonic components (both mechanical and electronic).
3D inkjet printing
The 3D printer consists of specialized inkjet dispensers (shown
below) [4] suspended above an X-Y planar stage. Flexonic parts will
be built using selective deposition of printable materials in a layered
process. These materials will include solution-based oligomers and
polymers, nano-particle suspensions, and thermoplastics.
organic electronics
flexonic design
We hope to apply newly developed organic electronic techniques
[5] to create the drive and control circuits of flexonic devices.
and fabrication
Inkjet printable devices are currently being investigated. A printed
inductor using gold nano-particles is shown below.
polymer actuators requisite technologies
When a large electric field is applied across a thin dielectric
elastomer film, the resultant stress (Maxwell stress) squeezes
the film in thickness and expands it in area.  Linear expansion
over 300% has been reported [3]. This principle can be
applied to create light weight, highly energetic actuators.
V+
references
[1] Howell LL (2001) Compliant Mechanisms. Wiley, New York
[2] Moon YM, Trease BP, Kota S (2002) Design of Large-Displacement Compliant Joints. To be published in Proceedings,
ASME International Design Engineering Technical Conference, Montreal, Canada, September 29 – October 2
[3] Pelrine R, Kornbluh R, Pei Q, Joseph J (2000) High-speed electrically actuated elastomers with strain greater than
100%. Science 287(5454):836-839
[4] Shah VG, Hayes DJ (2002) Trimming and Printing of Embedded Resistors Using Demand-Mode Ink-Jet Technology
and Conductive Polymer. Proc., IPC Printed Circuits Expo 2002, Long Beach, CA, March 24-28
[5] Subramanian V (2000) Applications of printing technology in organic electronics and display fabrication. In The Half
Moon Bay Maskless Lithography Workshop, DARPA/SRC, Half Moon Bay
joints
Flexonics will require the identification of a suitable replacement for
the traditional rotary joint. Design issues will include maximizing
range of motion, reducing stress concentrations, and controlling
inherent spring force. Possible designs are shown below [1,2].
actuators
Flexonic actuation will be based on the Maxwell stress
imposed on a compliant dielectric material. We will investigate mechatronic components
methods for printing the elastomer films and electrodes in
stacks, as well as constraining the dielectric elastomer film in
a flexible frame. Initial actuator frame designs are shown
below.
complex mechanisms
flexonic devices
Flexonics also encourages complex, specialized
components. Mechanisms for motion generation
(left), specific functions like gripping (center), and
power transmission (right) are possibilities.
human machine interfaces
structures Flexonic design allows human-machine interfaces to be
individualized according to the ergonomic needs of the user and
Mechatronic devices need passive structural volumes to the workspace constraints. The user could essentially become
support and connect moving components. High strength-to- part of the design loop. Flexonics also offers attractive features
for human safety and social acceptance. Flexonic devices would
weight performance can be achieved through one-dimensional
trusses and lattices. Flexonic structures can be designed to be light-weight, inherently compliant, and almost noiseless.
have uniform stiffness like a diamond lattice (left), or be stiff
only in certain directions to allow shear (right).
biomimetic robots
The high level of functional and structural
integration suggested by flexonics is attractive
for creating biomimetic designs in robotics.
Flexonic systems could provide the multimodal
functionality of muscle-based natural motor
systems.
compliant mechanisms
Compliant mechanism design is an important feature of flexonic design.
There will be no traditional sliding or rolling movements in actuators,
applications
sensors, or joints. Compliant mechanism design also enables a
reduction in total parts: we envision one-piece, no assembly fabrication.
Shown below are example compliant mechanisms designs: gripper
(left) and rotational joint (right) [1].
functional prototypes
Flexonics allows fully functional prototypes to be built
with extremely short turn-around. It also allows
different design elements (electrical, mechanical,
aesthetic) to be combined much earlier during design,
because the first prototypes can incorporate all
elements.