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Fluid-driven elastomeric actuators (FEAs) are among the most popularactuators in the emerging field of soft robotics. Intrinsically compliant, withcontinuum of motion, large strokes, little friction, and high power-to-weightratio, they are very similar to biological muscles, and have enabled newapplications in automation, architecture, medicine, and human-robotinteraction. To foster future applications of FEAs, in this paper we present anew manufacturing method for fast and precise scalable production of complexFEAs of high quality (leak-free, single-body form, with <0.2 mm precision). Themethod is based on 3d moulding and supports elastomers with a wide range ofviscosity, pot life, and Young's modulus. We developed this process for twodifferent settings: one in laboratory conditions for fast prototyping with 3dprinted moulds and using multi-component liquid elastomers, and the otherprocess in an industrial setting with 3d moulds micromachined in metal andapplying compression moulding. We demonstrate these methods in fabrication ofup to several tens of two-axis, three-chambered soft actuators, with two typesof chamber walls: cylindrical and corrugated. The actuators are then applied asmotion drivers in kinetic photovoltaic building envelopes.

Quick-cast: A method for fast and precise scalable production of fluid-driven elastomeric soft actuators