Direct ink writing of polymer matrix composite with carbon for driving a flexible thermoelectric actuator of shape memory polymer

Carbon nanomaterials and polymer composites that possess excellent electrical and mechanical properties for soft robots have been investigated over decades in multidisciplinary research fields. As considering the incorporation of carbon into polymer composite, several major concerns include the electrical conductivity, elastic module, and manufacturing flexibility that can enable them to satisfy various functions such as actuation and sensing. In this paper, we report a comprehensive study on how to design and fabricate a soft gripper based on carbon polymer matrix composite and multilayer structure through multistep processes of 3D printing on paper. Using commercial conductive additives of graphene and carbon nanotube with polydimethylsiloxane (PDMS), a polymer matrix composite (PMC) was prepared for the ink of direct ink writing (DIW) with percolation conductivity. Additionally, a shape memory polymer (SMP) was utilized for fused deposition modeling (FDM) of a thermal actuator. Incorporating the DIW of PMC with the FDM of SMP on paper, a soft gripper with four fingers was designed and fabricated to show remarkable thermoelectrical actuation for grasping a 50 mm-diameter 10 g-weight spherical ball. In the future, it would provide an alternative approach for the fields of science and engineering, such as nanomaterials and nanotechnology, space applications, sustainable soft robots, and flexible autonomous systems.