I-TPU (i-Thermoplastic Polyurethane)ineempawu ezibalaseleyo ezifana nokuguquguquka, ukuthamba, kunye nokumelana nokuguguleka, okwenza ukuba isetyenziswe kakhulu kwiindawo eziphambili zeerobhothi ezingabantu ezifana nezigqubuthelo zangaphandle, izandla zerobhothi, kunye nezinzwa ezichukumisayo. Ngezantsi kukho izixhobo zesiNgesi ezineenkcukacha ezihlelwe ngamaphepha emfundo anegunya kunye neengxelo zobugcisa: 1. **Uyilo kunye noPhuhliso lweRobhothi yesandla esisetyenziswa ngabantuIzinto zeTPU** > **Isishwankathelo**：Iphepha elivezwe apha libonisa iindlela zokusombulula ubunzima besandla serobhothi esifana nesabantu. Irobhothi ngoku yeyona ndawo iphambili kwaye bekusoloko kukho injongo yokulinganisa ukusebenza kunye nokuziphatha komntu. Isandla esifana nesabantu yenye yeendlela zokulinganisa imisebenzi efana neyabantu. Kweli phepha, ingcamango yokuphuhlisa isandla esifana nesabantu esinee-degrees ezili-15 zenkululeko kunye nee-actuators ezi-5 icacisiwe kwaye uyilo loomatshini, inkqubo yolawulo, ukwakheka, kunye neempawu zesandla serobhothi zixoxiwe. Isandla sinembonakalo efana nesabantu kwaye sinokwenza imisebenzi efana neyabantu, umzekelo, ukubamba kunye nokumelwa kwezandla. Iziphumo zibonisa ukuba isandla senziwe njengenxalenye enye kwaye asidingi naluphi na uhlobo lokuhlanganiswa kwaye sibonisa amandla okuphakamisa ubunzima amahle, kuba senziwe nge-polyurethane eguquguqukayo ye-thermoplastic.Izinto (ze-TPU), kwaye ukuthamba kwayo kuqinisekisa ukuba isandla sikhuselekile ekusebenzisaneni nabantu. Esi sandla singasetyenziswa kwirobhothi engumntu kunye nesandla sokufakelwa. Inani elincinci lee-actuators lenza ulawulo lube lula kwaye isandla sibe lula. 2. **Ukuguqulwa koMphezulu wePolyurethane yeThermoplastic yokwenza iGripper yeRobotic ethambileyo kusetyenziswa indlela yokuPrinta enemilinganiselo emine** > Enye yeendlela zophuhliso lokwenziwa kwe-gradient additive manufacturing kukudala izakhiwo eziprintiweyo ezinemilinganiselo emine (4D) zokubamba i-robotic ethambileyo, ezifezekiswa ngokudibanisa i-fused deposition modeling 3D printing kunye ne-soft hydrogel actuators. Lo msebenzi ucebisa indlela yokucinga yokwenza i-energy-self-self soft robotic gripper, equlathe i-substrate ye-3D printed holder eguquliweyo eyenziwe nge-thermoplastic polyurethane (TPU) kunye ne-actuator esekelwe kwi-gelatin hydrogel, evumela i-programmed hygroscopic deformation ngaphandle kokusebenzisa izakhiwo ezintsonkothileyo zoomatshini. > > Ukusetyenziswa kwe-20% ye-gelatin – esekwe kwi-hydrogel inika umsebenzi we-robotic biomimetic othambileyo kwisakhiwo kwaye inoxanduva lokusebenza koomatshini okushukumisayo okukrelekrele – okuphendulayo kwinto eprintiweyo ngokuphendula kwiinkqubo zokudumba kwiindawo ezingamanzi. Ukusebenza komphezulu okujoliswe kuwo kwe-thermoplastic polyurethane kwindawo ye-argon – ioksijini kangangemizuzwana engama-90, ngamandla e-100 w kunye noxinzelelo lwe-26.7 pa, kwenza kube lula utshintsho kwi-microrelief yayo, ngaloo ndlela kuphucula ukunamathela kunye nokuzinza kwe-gelatin evuvukileyo kumphezulu wayo. > > Ingcamango efezekisiweyo yokudala izakhiwo ze-comb eziprintiweyo ze-4D ezihambelana ne-biocompatible ze-macroscopic underwater soft robotic gripping inokubonelela ngokubamba okungengonakalisiyo kwendawo, ukuthutha izinto ezincinci, kunye nokukhupha izinto ezisebenzayo xa kuvuvukala emanzini. Imveliso ephumayo ke ngoko ingasetyenziswa njenge-actuator ye-biomimetic eqhutywa yiyo, inkqubo ye-encapsulation, okanye ii-robotics ezithambileyo. 3. **Ukuchazwa kweZakhiwo zangaphandle zeRobhothi yeHumanoid eprintiweyo nge-3D enePateni ezahlukeneyo kunye noButyebi** > Ngophuhliso lweerobhothi ze-humanoid, kufuneka izinto zangaphandle ezithambileyo ukuze kubekho ukusebenzisana okungcono phakathi kwabantu neerobhothi. Izakhiwo ze-Auxetic kwizixhobo ze-meta- ziyindlela ethembisayo yokwenza izinto zangaphandle ezithambileyo. Ezi zakhiwo zineempawu ezizodwa zoomatshini. Ukuprinta kwe-3D, ngakumbi i-fused filament fabrication (FFF), kusetyenziswa kakhulu ukwenza ezo zakhiwo. I-Thermoplastic polyurethane (TPU) isetyenziswa kakhulu kwi-FFF ngenxa yokuqina kwayo okuhle. Olu phononongo lujolise ekuphuhliseni isigqubuthelo sangaphandle esithambileyo serobhothi ye-humanoid i-Alice III isebenzisa ukuprinta kwe-FFF 3D nge-filament ye-Shore 95A TPU. > > Olu phononongo lusebenzise i-filament ye-TPU emhlophe eneprinta ye-3D ukwenza iingalo zerobhothi ye-humanoid ye-3DP. Ingalo yerobhothi yahlulwe yangasekunene nangangaphezulu. Iipateni ezahlukeneyo (eziqinileyo nezingena ngaphakathi) kunye nobukhulu (1, 2, kunye ne-4 mm) zasetyenziswa kwiisampuli. Emva kokuprinta, ukugoba, ukuxinana, kunye novavanyo lokucinezela lwenziwe ukuhlalutya iimpawu zoomatshini. Iziphumo ziqinisekisile ukuba isakhiwo esingena ngaphakathi sasinokugobeka lula ukuya kwigophe eligobileyo kwaye sasifuna uxinzelelo oluncinci. Kwiimvavanyo ezixinzelelweyo, isakhiwo esingena ngaphakathi sasikwazi ukumelana nomthwalo xa kuthelekiswa nesakhiwo esiqinileyo. > > Emva kokuhlalutya zonke ezi zintathu ubukhulu, kwaqinisekiswa ukuba isakhiwo esingena ngaphakathi esinobukhulu obuyi-2 mm sasineempawu ezintle kakhulu ngokweempawu zokugoba, ukutyhafa, kunye nokuxinzelela. Ke ngoko, ipateni engena ngaphakathi enobukhulu obuyi-2 mm ifanelekile ngakumbi ekwenzeni ingalo yerobhothi eprintiweyo engu-3D. 4. **Ezi Pads zeTPU “Soft Skin” ze-TPU eziprintiweyo ze-3D zinika iiRobhothi iNgqiqo yokuchukumisa exabiso liphantsi, ebukhali kakhulu** > Abaphandi abavela kwiYunivesithi yase-Illinois Urbana – Champaign beze nendlela engabizi kakhulu yokunika iirobhothi ingqiqo yokuchukumisa efana neyomntu: iiPads zesikhumba ezithambileyo eziprintiweyo ze-3D ezisebenza njengee-sensors zoxinzelelo loomatshini. > > Ii-sensors zerobhothi ezichukumisayo zihlala ziqulathe uluhlu oluntsonkothileyo lwee-elektroniki kwaye zibiza kakhulu, kodwa sibonise ukuba ezinye iindlela ezisebenzayo nezihlala ixesha elide zinokwenziwa ngexabiso eliphantsi kakhulu. Ngaphezu koko, ekubeni kungumbuzo wokuphinda uprinte i-3D printer, le ndlela ifanayo inokwenziwa ngokwezifiso kwiinkqubo ezahlukeneyo zerobhothi. Izixhobo zerobhothi zinokubandakanya amandla amakhulu kunye nee-torque, ngoko ke kufuneka zenziwe zikhuselekile ukuba ziza kunxibelelana ngokuthe ngqo nabantu okanye zisetyenziswe kwiindawo zabantu. Kulindeleke ukuba ulusu oluthambileyo ludlale indima ebalulekileyo kule nkalo kuba lunokusetyenziselwa ukuthobela ukhuseleko loomatshini kunye nokuva ukuchukumisa. > > Isenzi seqela senziwe kusetyenziswa ii-pad eziprintiweyo kwi-thermoplastic urethane (TPU) kwiprinta ye-Raise3D E2 3D engenanto. Umaleko wangaphandle othambileyo ugubungela icandelo lokungena elingenanto, kwaye njengoko umaleko wangaphandle ucinezelwe uxinzelelo lomoya ngaphakathi luyatshintsha ngokufanelekileyo - okuvumela isenzi soxinzelelo se-Honeywell ABP DANT 005 esiqhagamshelwe kwi-microcontroller ye-Teensy 4.0 ukubona ukungcangcazela, ukuchukumisa, kunye noxinzelelo olukhulayo. Khawuthelekelele ukuba ufuna ukusebenzisa iirobhothi ezithambileyo ukunceda kwindawo yesibhedlele. Kuya kufuneka zihlanjululwe rhoqo, okanye ulusu kuya kufuneka lutshintshwe rhoqo. Nokuba yeyiphi na indlela, kukho iindleko ezinkulu. Nangona kunjalo, ukuprinta kwe-3D yinkqubo enokukhuliswa kakhulu, ngoko ke iindawo ezitshintshanayo zinokwenziwa ngexabiso eliphantsi kwaye zisuswe lula emzimbeni werobhothi. 5. **Ukwenziwa Kokongeza kweTPU Pneu – IiNethi njengeeActuators zeRobhothi eziThambileyo** > Kule phepha, ukwenziwa kokongeza (AM) kwe-thermoplastic polyurethane (TPU) kuphandwa kumxholo wokusetyenziswa kwayo njengezinto ezithambileyo zerobhothi. Xa kuthelekiswa nezinye izinto ze-AM ezithambileyo, i-TPU ityhila iipropati zoomatshini eziphezulu malunga namandla kunye noxinzelelo. Ngokusebenzisa i-laser sintering ekhethiweyo, ii-actuators ze-pneumatic bending (i-pneu – iinethi) ziprintwa nge-3D njengophando lwetyala lerobhothi elithambileyo kwaye zivavanywa ngovavanyo malunga nokuphambuka phezu koxinzelelo lwangaphakathi. Ukuvuza ngenxa yokuqina komoya kubonwa njengomsebenzi wobukhulu bodonga obuncinci bee-actuators. > > Ukuchaza indlela yokuziphatha kweerobhothi ezithambileyo, iinkcazo zezinto ezixineneyo kufuneka zifakwe kwiimodeli zokuguqulwa kwejiyometri ezinokuba — umzekelo — zohlalutyo okanye zenani. Eli phepha lifunda iimodeli ezahlukeneyo ukuchaza indlela yokuziphatha komatshini werobhothi othambileyo. Uvavanyo lwezinto zoomatshini lusetyenziswa ukulinganisa imodeli yezinto ezixineneyo ukuchaza i-polyurethane ye-thermoplastic eyenziweyo. > > Ukulinganisa amanani okusekwe kwindlela ye-finite element kulinganiswa ukuchaza ukuguquguquka kwe-actuator kwaye kuthelekiswa nemodeli yohlalutyo epapashwe kutshanje ye-actuator enjalo. Zombini izibikezelo zemodeli zithelekiswa neziphumo zovavanyo ze-actuator ye-robotic ethambileyo. Ngelixa ukuphambuka okukhulu kufezekiswa yimodeli yohlalutyo, ukulinganisa amanani kuqikelela i-angle yokugoba ngokuphambuka okuphakathi kwe-9°, nangona ukulinganisa amanani kuthatha ixesha elide kakhulu ekubaleni. Kwimeko yemveliso ezenzekelayo, ii-robotics ezithambileyo zinokuncedisa ukuguqulwa kweenkqubo zemveliso eziqinileyo ukuya kwimveliso ekhawulezayo nekrelekrele.
Ixesha leposi: Novemba-25-2025