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首页> 美国卫生研究院文献>Micromachines >Additive Manufacturing for Soft Robotics: Design and Fabrication of Airtight Monolithic Bending PneuNets with Embedded Air Connectors
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Additive Manufacturing for Soft Robotics: Design and Fabrication of Airtight Monolithic Bending PneuNets with Embedded Air Connectors

机译：软机器人的增材制造：具有嵌入式空气连接器的气密单片弯曲PneuNets的设计和制造

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Air tightness is a challenging task for 3D-printed components, especially for fused filament fabrication (FFF), due to inherent issues, related to the layer-by-layer fabrication method. On the other hand, the capability of 3D print airtight cavities with complex shapes is very attractive for several emerging research fields, such as soft robotics. The present paper proposes a repeatable methodology to 3D print airtight soft actuators with embedded air connectors. The FFF process has been optimized to manufacture monolithic bending PneuNets (MBPs), an emerging class of soft robots. FFF has several advantages in soft robot fabrication: (i) it is a fully automated process which does not require manual tasks as for molding, (ii) it is one of the most ubiquitous and inexpensive (FFF 3D printers costs < $200) 3D-printing technologies, and (iii) more materials can be used in the same printing cycle which allows embedding of several elements in the soft robot body. Using commercial soft filaments and a dual-extruder 3D printer, at first, a novel air connector which can be easily embedded in each soft robot, made via FFF technology with a single printing cycle, has been fabricated and tested. This new embedded air connector (EAC) prevents air leaks at the interface between pneumatic pipe and soft robot and replaces the commercial air connections, often origin of leakages in soft robots. A subsequent experimental study using four different shapes of MBPs, each equipped with EAC, showed the way in which different design configurations can affect bending performance. By focusing on the best performing shape, among the tested ones, the authors studied the relationship between bending performance and air tightness, proving how the Design for Additive Manufacturing approach is essential for advanced applications involving FFF. In particular, the relationship between chamber wall thickness and printing parameters has been analyzed, the thickness of the walls has been studied from 1.6 to 1 mm while maintaining air tightness and improving the bending angle by 76.7% under a pressure of 4 bar. It emerged that the main printing parameter affecting chamber wall air tightness is the line width that, in conjunction with the wall thickness, can ensure air tightness of the soft actuator body.
机译：由于涉及与逐层制造方法有关的固有问题，气密性对于3D打印的组件是一项艰巨的任务，特别是对于熔丝制造（FFF）。另一方面，具有复杂形状的3D打印气密型腔的功能对于诸如软机器人等新兴的研究领域非常有吸引力。本文提出了一种可重复的方法，用于带有嵌入式空气连接器的3D打印气密性软致动器。 FFF工艺已进行了优化，以制造单片弯曲PneuNet（MBP），这是一种新兴的软机器人。 FFF在软机器人制造中具有几个优势：（i）这是一个全自动过程，不需要手动进行模制;（ii）它是最普及和最便宜的产品之一（FFF 3D打印机的价格<200美元）3D-印刷技术，以及（iii）在同一印刷周期中可以使用更多材料，从而可以在软机器人主体中嵌入多个元素。首先，使用商用软丝和双挤出机3D打印机，制造并测试了一种新颖的空气连接器，该空气连接器通过FFF技术制成，可以在单个打印周期内轻松嵌入每个软机器人中。这种新的嵌入式空气连接器（EAC）可防止空气在气动管道和软机器人之间的接口处泄漏，并取代了通常是软机器人泄漏源的商用空气连接。随后的一项实验研究使用了四种不同形状的MBP，每种都配备了EAC，表明了不同的设计配置会影响弯曲性能的方式。通过重点关注性能最佳的形状（在测试的形状中），作者研究了弯曲性能与气密性之间的关系，证明了“增材制造设计”方法对于涉及FFF的高级应用如何必不可少。特别是，分析了腔室壁厚和印刷参数之间的关系，研究了壁厚从1.6到1 mm，同时在4 bar的压力下保持气密性并将弯曲角度提高了76.7％。结果表明，影响腔室壁气密性的主要印刷参数是线宽，其与壁厚一起可确保软促动器本体的气密性。

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