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Research On Intelligent Soft Robot Based On Hybrid 3D Printing

Posted on:2023-10-18Degree:MasterType:Thesis
Country:ChinaCandidate:Z Z GuFull Text:PDF
GTID:2568307022998089Subject:Software engineering
Abstract/Summary:PDF Full Text Request
As an important part of the industrial information society,robots are receiving more and more attention.Among them,soft robots have developed rapidly because of their unique advantages.Most of the existing soft robots only have a specific simple structure,and the perception and interaction capabilities are still lacking.Therefore,how to develop intelligent soft robots with perception and interaction capabilities is a problem that the academic community has been exploring.Soft robots with functional electronic skins and soft actuators can safely interact with humans and unstructured dynamic environments in an adaptive,intelligent,and highly reliable manner.However,despite the softness of the robot body,most existing soft robots have inherent stiffness in their actuation or sensing components,such as pressure regulating components and rigid circuit boards.This kind of modulus mismatch between different structures often interferes with the normal motion of the robot,resulting in the loss of its performance.Aiming at the problems in the manufacturing process of intelligent soft robots,this paper designs and builds a 3D printing platform suitable for printing various functional materials based on the traditional direct-write 3D printing platform,which can realize hybrid3 D printing.In view of the problems of single structure and simple function of the current soft robot,a soft robot with functional electronic skin was designed and manufactured based on the printing platform.It has programmable deformability and can achieve controllable movement under the action of an external magnetic field.The functional electronic skin printed on its surface enables it to perceive and interact with the external environment.The specific research content of this article is divided into the following parts:(1)In order to solve the problem of integrated manufacturing of intelligent soft robots,a set of hybrid 3D printing platform with a minimum printing accuracy of 100 μm was designed and built.The hybrid 3D printing platform can print a variety of materials.Including: 1)magneto-elastic ink as a substrate for soft robots;2)flexible conductive interconnect wire materials used to print functional electronic skins of soft robots;3)composite elastic ink with magnetothermal response function and water with thermal response function Gel material,and the device can achieve precise placement and positioning of electronic components according to programming.(2)The characteristics of functional materials for intelligent soft robot printing and the effects of different parameters on the printing effect during the printing process were explored.Finally,the specific parameters required for printing each component of the intelligent soft robot,such as printing speed,extrusion pressure,etc.,were determined.(3)An intelligent soft robot capable of crawling motion under the control of a magnetic field was designed and manufactured by means of hybrid 3D printing.The motion mode and function of the soft robot are analyzed and verified.The components of this soft robot include: 1)a magnetically controlled soft drive with programmable magnetic domain orientation;2)a flexible electronic skin with specific functions,which can sense the temperature change of the external environment in real time with a temperature sensing error of less than 0.2 °C;3)The thermally responsive hydrogel can shrink and release the functional components,such as drugs,encapsulated in it by induction heating when the temperature reaches 34 °C.Thanks to the reasonable structural design between each functional layer,the small intelligent soft robot manufactured by hybrid 3D printing technology can realize the controllable movement under the magnetic field and the ability to perceive and interact with the external environment.(4)The motion mode and function of the soft robot are analyzed and verified.Small intelligent soft robots made with hybrid 3D printing technology can realize controllable motion under magnetic field and the ability to perceive and interact with the external environment.The intelligent soft robot manufactured by hybrid 3D printing realizes the organic integration of the driving unit of the soft robot and the functional electronic skin,and expands its application boundary without losing the compliance of the soft robot.
Keywords/Search Tags:soft robot, 3D printing, functional material, magnetron, electronic skin
PDF Full Text Request
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