TPU (Thermoplastic Polyurethane)ine hunhu hwakanaka hwakadai sekuchinjika, kusachinjika, uye kusakara, zvichiita kuti ishandiswe zvakanyanya muzvikamu zvakakosha zvemarobhoti emunhu zvakaita semachira ekunze, maoko erobhoti, uye masensa ekubata. Pazasi pane zvinhu zvakadzama zveChirungu zvakarongwa kubva mumapepa edzidzo ane mvumo nemishumo yehunyanzvi: 1. **Kugadzira nekugadzira Ruoko rweRobhoti Rune Anthropomorphic UchishandisaZvinhu zveTPU** > **Pfupiso**：Pepa rakapihwa pano nzira dzekugadzirisa kuoma kweruoko rwerobhoti rune chimiro chemunhu. Robotics ikozvino ndiyo nzvimbo iri kufambira mberi zvakanyanya uye kwagara kune chinangwa chekutevedzera maitiro nemaitiro evanhu. Ruoko rune chimiro chemunhu ndeimwe yenzira dzekutevedzera mashandiro evanhu. Mupepa rino, pfungwa yekugadzira ruoko rune chimiro chemunhu rune rusununguko rwemadhigirii gumi nemashanu uye ma actuator mashanu yakatsanangurwa pamwe nekugadzirwa kwemuchina, system yekudzora, maumbirwo, uye hunhu hweruoko rwerobhoti zvakakurukurwa. Ruoko rune chitarisiko chemunhu uye runogonawo kuita mabasa evanhu, semuenzaniso, kubata uye kuratidza maoko. Mhedzisiro yacho inoratidza kuti ruoko rwakagadzirwa sechikamu chimwe chete uye harudi chero rudzi rwekuungana uye runoratidza kugona kwakanaka kwekusimudza huremu, sezvo rwakagadzirwa ne thermoplastic polyurethane inochinjika.(TPU) zvinhu, uye kusimba kwaro kunoitawo kuti ruoko ruve rwakachengeteka kuti rushande nevanhuwo. Ruoko urwu runogona kushandiswa murobhoti rinoita semunhu pamwe neruoko rwekugadzira. Huwandu hushoma hwema actuator hunoita kuti kutonga kuve nyore uye ruoko ruve rwakareruka. 2. **Kugadziriswa kweThermoplastic Polyurethane Surface yekugadzira Soft Robotic Gripper Uchishandisa Nzira Yekudhinda Yemadimensional Four-Dimensional** > Imwe yenzira dzekuvandudza kugadzirwa kwe functional gradient additive manufacturing ndeyekugadzira zvimiro zvakadhindwa zvemadimensional mana (4D) zve soft robotic gripping, zvinowanikwa nekubatanidza fused deposition modeling 3D printing ne soft hydrogel actuators. Basa iri rinoratidza nzira yekugadzira soft robotic gripper ine simba, ine modified 3D printed holder substrate yakagadzirwa kubva ku thermoplastic polyurethane (TPU) uye actuator yakavakirwa pa gelatin hydrogel, zvichibvumira programmed hygroscopic deformation pasina kushandisa michina yakaoma. > > Kushandiswa kwe20% gelatin - hydrogel ine gelatin inoita kuti chimiro chishande zvakanaka uye ine basa rekuita kuti chinhu chakadhindwa chishande zvakanaka kuburikidza nekuzvimba munzvimbo dzine mvura. Kushanda kwethermoplastic polyurethane munzvimbo ine argon - oxygen kwemasekonzi makumi mapfumbamwe, nesimba re100 w uye kumanikidzwa kwe26.7 pa, kunoita kuti pave nekuchinja kwe microrelief, nokudaro zvichivandudza kunamira uye kugadzikana kwegelatin yakazvimba pamusoro payo. > > Pfungwa yakagadzirwa yekugadzira 4D printed biocompatible comb structures dzemacroscopic underwater soft robotic gripping inogona kupa kubata kwenzvimbo kusingapindiki, kutakura zvinhu zvidiki, uye kuburitsa zvinhu zvine simba mumvura. Saka chigadzirwa chinobuda chinogona kushandiswa se biomimetic actuator inozviita yega, encapsulation system, kana soft robotics. 3. **Kutsanangurwa kweZvikamu zveKunze zveRobhoti reMunhu rakadhindwa ne3D rine Mapatani uye Ukobvu hwakasiyana-siyana** > Nekuvandudzwa kwemarobhoti emunhu, kunze kwakapfava kunodiwa kuti pave nekudyidzana kwakanaka pakati pevanhu - marobhoti. Maumbirwo eAuxetic muzvinhu zve meta - inzira yakanaka yekugadzira kunze kwakapfava. Maumbirwo aya ane hunhu hwakasiyana hwemakanika. Kudhinda kwe3D, kunyanya fused filament fabrication (FFF), kunoshandiswa zvakanyanya kugadzira maumbirwo akadaro. Thermoplastic polyurethane (TPU) inowanzoshandiswa muFFF nekuda kwekusimba kwayo kwakanaka. Chidzidzo ichi chine chinangwa chekugadzira chifukidziro chekunze chakapfava cherobhoti remunhu Alice III ichishandisa FFF 3D printing neShore 95A TPU filament. > > Chidzidzo ichi chakashandisa filament chena yeTPU ine 3D printer kugadzira maoko erobhoti remunhu re3DP. Ruoko rwerobhoti rwakakamurwa kuita zvikamu zveruoko rwepamusoro nerwepamusoro. Mapatani akasiyana (akasimba uye anopinda) uye ukobvu (1, 2, uye 4 mm) akaiswa kumasampuli. Mushure mekudhinda, kukotama, kudhonza, uye bvunzo dzekumanikidza dzakaitwa kuti vaongorore hunhu hwemakanika. Zvakabuda zvakasimbisa kuti chimiro che "re-entry" chaive nyore kukotama chakanangana ne "kotara" yekukombama uye chaida kushushikana kushoma. Mumiedzo yekumanikidza, chimiro che "re-entry" chakakwanisa kutsungirira mutoro kana tichienzanisa nechimiro chakasimba. > > Mushure mekuongorora ukobvu hwese hutatu, zvakasimbiswa kuti chimiro che "re-entry" chine ukobvu hwe 2 mm chaive nehunhu hwakanaka maererano nekukombama, kudhonza, uye kudzvanya. Nokudaro, pateni ye "re-entry" ine ukobvu hwe 2 mm yakakodzera kugadzira ruoko rwerobhoti rakadhindwa re3D. 4. **Aya ma "Soft Ganda" eTPU Akadhindwa e3D Anopa Marobhoti Kunzwa Kwekubata Kwakaderera, Kwakanyanya** > Vaongorori vanobva kuYunivhesiti yeIllinois Urbana - Champaign vakauya nenzira inodhura yakaderera yekupa marobhoti kunzwa kwekubata kwakafanana nemunhu: ma "soft skin pads" akadhindwa e3D anoshandiswawo se "mechanical pressure sensors". > > Tactile robotic sensors anowanzova ne "arrays" dzakaoma dzemagetsi uye anodhura zvikuru, asi takaratidza kuti dzimwe nzira dzinoshanda, dzakasimba dzinogona kugadzirwa zvakachipa. Uyezve, sezvo iri nyaya yekushandura 3D printer, nzira imwe chete inogona kugadziriswa zviri nyore kune akasiyana marobhoti systems. Robotic hardware inogona kushandisa masimba makuru uye torque, saka inoda kugadzirwa yakachengeteka kana ichizoshanda zvakananga nevanhu kana kushandiswa munzvimbo dzevanhu. Zvinotarisirwa kuti ganda rakapfava richatamba basa rakakosha panyaya iyi sezvo richigona kushandiswa pakutevedzera kuchengetedzeka kwemuchina uye kunzwa kubata. > > Sensor yechikwata inogadzirwa uchishandisa mapedhi akadhindwa kubva ku thermoplastic urethane (TPU) pa off - the - shelf Raise3D E2 3D printer. Chikamu chekunze chakapfava chinofukidza chikamu chemukati chisina chinhu, uye sezvo chikamu chekunze chakadzvanywa, kumanikidzwa kwemhepo mukati kunochinja zvinoenderana - zvichibvumira Honeywell ABP DANT 005 pressure sensor yakabatana neTeensy 4.0 microcontroller kuti ione kudedera, kubata, uye kuwedzera kwekumanikidzwa. Fungidzira uchida kushandisa marobhoti akapfava kuti ubatsire muchipatara. Anofanira kugara achicheneswa, kana kuti ganda rinofanira kugara richitsiviwa. Chero nzira, pane mutengo mukuru. Zvisinei, kudhinda kwe3D inzira inokwanisika kukura, saka zvikamu zvinochinjika zvinogona kugadzirwa zvisingadhuri uye zviri nyore kubatwa mumuviri werobhoti. 5. **Kugadzirwa kweTPU Pneu - Mambure seSoft Robotic Actuators** > Mupepa rino, kugadzirwa kwekuwedzera (AM) kwethermoplastic polyurethane (TPU) kunoongororwa maererano nekushandiswa kwayo sezvikamu zverobhoti zvakapfava. Zvichienzaniswa nezvimwe zvinhu zveAM zvinopfava, TPU inoratidza hunhu hwepamusoro hwemakanika maererano nesimba uye kumanikidzwa. Nekusarudza laser sintering, pneumatic bending actuators (pneu - mambure) anodhindwa mu3D senyaya yerobhoti yakapfava uye anoongororwa nekuyedza maererano nekutsauka pamusoro pekumanikidzwa kwemukati. Kudonha kwemvura nekuda kwekusimba kwemhepo kunoonekwa sebasa rehukobvu hwemadziro evaactuators. > > Kutsanangura maitiro erobhoti dzakapfava, tsananguro dzezvinhu zvehyperelastic dzinofanira kuiswa mumamodheru ekuchinja geometric anogona kuva - semuenzaniso - analytical kana nhamba. Pepa iri rinodzidza mamodheru akasiyana kutsanangura maitiro ekukotama erobhoti yakapfava actuator. Miedzo yezvinhu zvemakanika inoshandiswa kuyera modhi yezvinhu zvine hyperelastic kutsanangura thermoplastic polyurethane yakagadzirwa zvinowedzerwa. > > Kuenzanisa nhamba kwakavakirwa panzira ye finite element kunoenzaniswa kutsanangura deformation ye actuator uye kuenzaniswa ne analytical model yakaburitswa munguva pfupi yapfuura ye actuator yakadaro. Kufungidzira kwese kwese kwemodhi kunoenzaniswa nemigumisiro yekuedza ye soft robotic actuator. Kunyange zvazvo kutsauka kukuru kuchiwanikwa ne analytical model, kufananidza kwenhamba kunofanotaura kona yekukotama neavhareji yekutsauka kwe9°, kunyange zvazvo kufananidza kwenhamba kunotora nguva yakareba pakuverenga. Munzvimbo yekugadzira otomatiki, soft robotics inogona kuwedzera kushandurwa kwemaitiro ekugadzira akaomarara kuenda ku agile uye smart manufacturing.
Nguva yekutumira: Mbudzi-25-2025