TPU (Thermoplastic Polyurethane)ineempawu ezibalaseleyo ezifana nokuguquguquka, ukunwebeka, kunye nokumelana nokunxiba, oko kuyenza isetyenziswe ngokubanzi kumacandelo aphambili eirobhothi ezinjengobuntu obungaphandle, izandla zerobhothi, kunye nezivamvo ezibambekayo. Apha ngezantsi kukho iinkcukacha zemathiriyeli zesiNgesi ezilungiswe kumaphepha emfundo agunyazisiweyo kunye neengxelo zobugcisa: 1. **Uyilo kunye noPhuhliso lweAnthropomorphic Robotic Hand UsebenzisaTPU Material** > **Abstract**:Iphepha eliboniswe apha lijonge ukusombulula ukuntsonkotha kwesandla serobhothi yeanthropomorphic. Iirobhothi ngoku yeyona ndawo iqhubela phambili kwaye ibisoloko inenjongo yokulinganisa umntu-njengokwenza izinto kunye nokuziphatha. Isandla se-anthropomorphic yenye yeendlela zokuxelisa umntu - njengemisebenzi. Kweli phepha, ingcamango yokuphuhlisa isandla se-anthropomorphic kunye ne-15 degrees yenkululeko kunye ne-5 actuators iye yacaciswa kunye noyilo lomatshini, inkqubo yokulawula, ukubunjwa, kunye nezinto ezikhethekileyo zesandla se-robotic. Isandla sinenkangeleko ye-anthropomorphic kwaye siyakwazi ukwenza umntu - njengemisebenzi, umzekelo, ukubamba kunye nokubonakalisa izijekulo zezandla. Iziphumo zidiza ukuba isandla siyilwe njengenxalenye enye kwaye ayifuni naluphi na uhlobo lwendibano kwaye sibonisa amandla okuphakamisa ubunzima, kuba senziwe nge-flexible thermoplastic polyurethane.(TPU) imathiriyeli, kunye nokunwebeka kwayo kwakhona kuqinisekisa ukuba isandla sikhuselekile ukusebenzisana nabantu. Esi sandla sinokusetyenziswa kwirobhothi ye-humanoid kunye nesandla sokufakelwa. Inani elilinganiselweyo le-actuator lenza ulawulo lube lula kwaye isandla silula. 2 ** Ukuguqulwa koMphezulu we-Thermoplastic Polyurethane ukuze wenze i-Soft Robotic Gripper usebenzisa i-Four-Dimensional Printing Method ** > Enye yeendlela zophuhliso lokwenziwa kwe-dimensional gradient additive production kukuyilwa kwezakhiwo ezine-dimensional (4D) eziprintiweyo zerobhothi ethambileyo yokubamba, ephunyezwe yi-3D yokudibanisa imodeli ngokudibanisa i-hydroD. ii-activators. Lo msebenzi uphakamisa indlela yokucinga ekudaleni amandla - i-robotic gripper ezimeleyo ethambileyo, equka i-3D eprintiweyo eprintiweyo substrate eyenziwe kwi-thermoplastic polyurethane (TPU) kunye ne-actuator esekelwe kwi-gelatin hydrogel, evumela i-programmed hygroscopic deformation ngaphandle kokusebenzisa ulwakhiwo olunzima lwemishini. > > Ukusetyenziswa kwe-gelatin ye-20% - esekelwe kwi-hydrogel inika ukusebenza kwe-robotic biomimetic ethambileyo kwisakhiwo kwaye ijongene ne-intellige stimulus - i-responsive mechanical functionality yento eprintiweyo ngokuphendula kwiinkqubo zokudumba kwiindawo ezimanzi. Indawo ekujoliswe kuyo yokusebenza kwe-thermoplastic polyurethane kwindawo ye-argon - i-oksijini ye-90, kumandla we-100 w kunye noxinzelelo lwe-26.7 pa, iququzelela utshintsho kwi-microrelief yayo, ngaloo ndlela iphucula ukubambelela kunye nokuzinza kwe-gelatin evuvukileyo phezu kwayo. > > Ingcamango ecacileyo yokudala i-4D eprintiweyo yezakhiwo ze-biocompatible comb ukwenzela ukubamba i-robotic ethambileyo engaphantsi kwamanzi engaphantsi kwamanzi inokubonelela ngokubamba okungahambiyo kwendawo, ukuthutha izinto ezincinci, kunye nokukhulula izinto ze-bioactive ekudumbeni emanzini. Imveliso ephumayo ke ngoko ingasetyenziswa njenge-self-powered biomimetic actuator, inkqubo ye-encapsulation, okanye iirobhothi ezithambileyo. 3. **Uphawu lwaMalungu aNgaphandle kwi-3D-Printed Humanoid Robot Arm enePatheni ezahlukeneyo kunye noButyenene** > Ngokuphuhliswa kweerobhothi ze-humanoid, ingaphandle ethambileyo iyafuneka ukuze i-robot isebenze ngcono. Izakhiwo ze-Auxetic kwi-meta - izinto eziphathekayo ziyindlela ethembisayo yokudala izinto zangaphandle ezithambileyo. Ezi zakhiwo zineempawu ezizodwa zoomatshini. Ushicilelo lwe-3D, ngakumbi i-fused filament fabrication (FFF), isetyenziswa ngokubanzi ukwenza ezo zakhiwo. I-Thermoplastic polyurethane (TPU) isetyenziswa ngokuqhelekileyo kwi-FFF ngenxa yokuqina kwayo okulungileyo. Olu phononongo lujolise ekuphuhliseni isigqubuthelo sangaphandle esithambileyo kwirobhothi ye-humanoid u-Alice III usebenzisa i-FFF 3D yokushicilela nge-Shore 95A TPU filament. > > Uphononongo lusebenzise intambo emhlophe ye-TPU eneprinta ye-3D ukwenza iingalo ze-3DP humanoid robot. Ingalo yerobhothi yahlulahlulwe yangangaphambili kunye nenxalenye yengalo ephezulu. Iipateni ezahlukeneyo (eziqinileyo kunye nokungena kwakhona) kunye nobukhulu (1, 2, kunye ne-4 mm) zisetyenziswe kwiisampuli. Emva kokushicilela, ukugoba, ukuxinana, kunye novavanyo loxinzelelo lwenziwa ukuhlalutya iimpawu zomatshini. Iziphumo ziqinisekisile ukuba i-re-entent structure yayigobe ngokulula ngokubhekiselele kwi-curve yokugoba kwaye ifuna uxinzelelo oluncinci. Kwiimvavanyo ezixinzelelekileyo, isakhiwo sokungena kwakhona sasikwazi ukumelana nomthwalo xa kuthelekiswa nesakhiwo esiqinileyo. > > Emva kokuhlalutya zonke izingqimba ezintathu, kwaqinisekiswa ukuba isakhiwo sokuphinda singene kunye nobukhulu be-2 mm sineempawu ezibalaseleyo malunga nokugoba, ukunyanzeliswa, kunye neempawu zokuxinzelela. Ngoko ke, iphethini yokungena kwakhona kunye nobukhulu be-2 mm ifaneleka ngakumbi ukuvelisa i-3D - ingalo ye-robot eprintiweyo ye-humanoid. 4. **Ezi 3D-Printed TPU "Soft Skin" Pads zinika iiRobhothi iNdleko ePhantsi, i-Highly-Sensitive Sense of Touch ** > Abaphandi abavela kwiYunivesithi yase-Illinois Urbana - Champaign baye beza nexabiso eliphantsi - leendleko zokunika iirobhothi umntu - njengengqiqo yokuthintela: i-3D - iprintelwe i-soft soft skin pads that double as mechanical pressure sensors. > > Izinzwa zerobhothi ezibambekayo zihlala ziqulathe uluhlu oluntsonkothileyo lwe-electronics kwaye zibiza kakhulu, kodwa sibonise ukuba ezinye iindlela ezisebenzayo, ezihlala ixesha elide zinokwenziwa ngexabiso eliphantsi kakhulu. Ngapha koko, kuba ingumbuzo nje wokwenza inkqubo kwakhona umshicileli we-3D, ubuchule obufanayo bunokwenziwa ngokulula kwiinkqubo ezahlukeneyo zerobhothi. Izixhobo zerobhothi zinokubandakanya imikhosi emikhulu kunye neetorque, ngoko ke kufuneka zenziwe zikhuseleke ngokupheleleyo ukuba ziya kunxibelelana ngokuthe ngqo nabantu okanye zisetyenziswe kwindawo ezingqongileyo zabantu. Kulindeleke ukuba ulusu oluthambileyo ludlale indima ebalulekileyo kulo mba kuba lunokusetyenziselwa ukuthotyelwa kokhuseleko koomatshini kunye nemvakalelo ebambekayo. > > Isivamvo seqela senziwa kusetyenziswa iipads eziprintwe kwi-thermoplastic urethane (TPU) kwindawo evaliweyo – i-shelf Raise3D E2 3D umshicileli. Uluhlu lwangaphandle oluthambileyo lugubungela icandelo lokuzaliswa elingenanto, kwaye njengoko uluhlu lwangaphandle lunyanzeliswa uxinzelelo lomoya ngaphakathi lutshintsha ngokufanelekileyo-ukuvumela i-Honeywell ABP DANT 005 inzwa yoxinzelelo exhunywe kwi-Teensy 4.0 microcontroller ukubona ukungcangcazela, ukuthintela, kunye nokunyusa uxinzelelo. Khawufane ucinge ukuba ufuna ukusebenzisa iirobhothi ezithambileyo zolusu ukuncedisa kwisimo esibhedlele. Kuya kufuneka zihlanjululwe rhoqo, okanye kuya kufuneka ulusu lutshintshwe rhoqo. Nokuba yeyiphi na indlela, kukho ixabiso elikhulu. Nangona kunjalo, ushicilelo lwe-3D yinkqubo enobungozi kakhulu, ngoko ke iindawo ezitshintshisanayo zingenziwa ngexabiso eliphantsi kwaye zihluthwe ngokulula kwaye zikhuphe umzimba werobhothi. 5. **I-Additive Production ye-TPU Pneu - IiNethi njenge-Soft Robotic Actuators ** > Kweli phepha, ukuveliswa kwe-additive (AM) ye-thermoplastic polyurethane (TPU) iphandwa kumxholo wokusetyenziswa kwayo njengamacandelo e-robotic athambileyo. Xa kuthelekiswa nezinye izinto ezinwebekayo ze-AM, i-TPU ityhila iipropathi zoomatshini eziphezulu malunga namandla kunye noxinzelelo. Ngokukhetha i-laser sintering, i-pneumatic bending actuators (i-pneu - inetha) i-3D iprintwe njengesifundo se-robotic esithambileyo kwaye ivavanywe ngovavanyo malunga nokuphambuka kuxinzelelo lwangaphakathi. Ukuvuza ngenxa yokuqina komoya kubonwa njengomsebenzi wobuncinci bodonga lwe-actuators. > > Ukuchaza indlela yokuziphatha kweerobhothi ezithambileyo, iinkcazelo zemathiriyeli ye-hyperelastic kufuneka zibandakanywe kwiimodeli zokuguqulwa kwejometri ezinokuthi - ngokomzekelo - zihlalutye okanye zibe ngamanani. Eli phepha lifunda iimodeli ezahlukeneyo ukuchaza indlela yokuziphatha egobayo yerobhothi ethambileyo ekwaziyo ukwenza izinto. Iimvavanyo zezinto zoomatshini zisetyenziselwa iparameterize imodeli yemathiriyeli ye-hyperelastic ukuchaza ukongezwa kokwenziwa kwe-thermoplastic polyurethane. > > Ukulinganisa kwamanani okusekwe kwindlela yesiqalelo esinesiphelo kumiselwa ipharamitha ukuchaza ukuguqulwa kwe actuator kwaye kuthelekiswa nomzekelo wocazululo osanda kupapashwa kwi actuator enjalo. Zombini iingqikelelo zemodeli zithelekiswa neziphumo zovavanyo lwe-robotic actuator ethambileyo. Ngelixa ukutenxa okukhulu kuphunyezwa ngemodeli yohlalutyo, ukulinganisa kwamanani kuqikelela i-engile yokugoba ene-avareji yezitenxo ze-9°, nangona ukulinganisa kwamanani kuthatha ixesha elide kakhulu ekubaleni. Kwimeko yemveliso ezenzekelayo, iirobhothi ezithambileyo zinokuncedisana noguquko lweenkqubo eziqinileyo zemveliso ukuya kwimveliso egudileyo kunye nekrelekrele.
Ixesha lokuposa: Nov-25-2025