Soft robotics is currently a rapidly growing new field of robotics whereby the robots are fundamentally soft and elastically deformable. Fabrication of soft robots is currently challenging and highly time- and labor-intensive. Recent advancements in three-dimensional (3D) printing of soft materials and multi-materials have become the key to enable direct manufacturing of soft robots with sophisticated designs and functions. Hence, this paper aims to review the current 3D printing processes and materials for soft robotics applications, as well as the potentials of 3D printing technologies on 3D printed soft robotics.,The paper reviews the polymer 3D printing techniques and materials that have been used for the development of soft robotics. Current challenges to adopting 3D printing for soft robotics are also discussed. Next, the potentials of 3D printing technologies and the future outlooks of 3D printed soft robotics are presented.,This paper reviews five different 3D printing techniques and commonly used materials. The advantages and disadvantages of each technique for the soft robotic application are evaluated. The typical designs and geometries used by each technique are also summarized. There is an increasing trend of printing shape memory polymers, as well as multiple materials simultaneously using direct ink writing and material jetting techniques to produce robotics with varying stiffness values that range from intrinsically soft and highly compliant to rigid polymers. Although the recent work is done is still limited to experimentation and prototyping of 3D printed soft robotics, additive manufacturing could ultimately be used for the end-use and production of soft robotics.,The paper provides the current trend of how 3D printing techniques and materials are used particularly in the soft robotics application. The potentials of 3D printing technology on the soft robotic applications and the future outlooks of 3D printed soft robotics are also presented.

中文翻译：

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软机器人的 3D 打印工艺和材料综述

软机器人是目前快速发展的机器人新领域，其中机器人基本上是柔软且可弹性变形的。软机器人的制造目前具有挑战性，并且非常耗时耗力。软材料和多材料三维（3D）打印的最新进展已成为实现具有复杂设计和功能的软机器人直接制造的关键。因此，本文旨在回顾当前用于软体机器人应用的 3D 打印工艺和材料，以及 3D 打印技术在 3D 打印软体机器人上的潜力。本文回顾了用于软体机器人的聚合物 3D 打印技术和材料。软机器人的发展。还讨论了当前在软机器人中采用 3D 打印的挑战。下一个，介绍了 3D 打印技术的潜力和 3D 打印软机器人的未来前景。本文回顾了五种不同的 3D 打印技术和常用材料。评估了用于软机器人应用的每种技术的优缺点。还总结了每种技术使用的典型设计和几何形状。打印形状记忆聚合物以及同时使用直接墨水书写和材料喷射技术的多种材料的打印趋势越来越大，以生产具有不同刚度值的机器人，这些刚度值范围从本质上柔软和高度柔顺到刚性聚合物。尽管最近所做的工作仍仅限于 3D 打印软机器人的实验和原型制作，增材制造最终可用于软机器人的最终用途和生产。本文提供了 3D 打印技术和材料的当前使用趋势，尤其是在软机器人应用中。还介绍了 3D 打印技术在软机器人应用中的潜力以及 3D 打印软机器人的未来前景。