Ka Hoʻohana ʻana o ka Mea TPU i nā Robots Humanoid

TPU (Thermoplastic Polyurethane)He mau waiwai koʻikoʻi kona e like me ka maʻalahi, ka elasticity, a me ke kūpaʻa ʻana i ka ʻaʻahu, e hoʻohana nui ʻia ana i nā ʻāpana koʻikoʻi o nā robots humanoid e like me nā uhi waho, nā lima robotic, a me nā sensor tactile. Aia ma lalo nā mea kikoʻī Pelekane i hoʻokaʻawale ʻia mai nā pepa hoʻonaʻauao mana a me nā hōʻike loea: 1. **Hoʻolālā a me ka Hoʻomohala ʻana i kahi Lima Robotic Anthropomorphic Me ka hoʻohana ʻanaMea TPU** > **Hōʻuluʻulu Manaʻo**：Ke hoʻokokoke nei ka pepa i hōʻike ʻia ma ʻaneʻi i ka hoʻoponopono ʻana i ka paʻakikī o kahi lima robotic anthropomorphic. ʻO ka Robotics i kēia manawa ke kahua holomua loa a ua manaʻo mau ʻia e hoʻohālike i ka hana a me ke ʻano kanaka. ʻO ka lima anthropomorphic kekahi o nā ala e hoʻohālike ai i nā hana e like me ke kanaka. Ma kēia pepa, ua hoʻomohala ʻia ka manaʻo o ka hoʻomohala ʻana i kahi lima anthropomorphic me 15 degere o ke kūʻokoʻa a me 5 mau actuators a ua kūkākūkā ʻia hoʻi ka hoʻolālā mechanical, ka ʻōnaehana hoʻomalu, ka haku mele ʻana, a me nā ʻano ʻokoʻa o ka lima robotic. He ʻano anthropomorphic ka lima a hiki ke hana i nā hana e like me ke kanaka, no ka laʻana, ka hopu ʻana a me ka hōʻike ʻana i nā neʻe lima. Hōʻike nā hopena ua hoʻolālā ʻia ka lima ma ke ʻano he ʻāpana hoʻokahi a ʻaʻole pono kekahi ʻano ʻākoakoa a hōʻike ia i kahi hiki ke hāpai kaumaha maikaʻi loa, ʻoiai ua hana ʻia me ka polyurethane thermoplastic flexible.Mea (TPU), a ʻo kona elasticity e hōʻoiaʻiʻo ana hoʻi i ka palekana o ka lima no ka launa pū ʻana me nā kānaka. Hiki ke hoʻohana ʻia kēia lima i loko o kahi robot humanoid a me kahi lima prosthetic. ʻO ka helu palena o nā actuators e maʻalahi ai ka mana a māmā ka lima. 2. **Hoʻololi ʻana o kahi ʻili Thermoplastic Polyurethane no ka hana ʻana i kahi Gripper Robotic Soft me ka hoʻohana ʻana i kahi ʻano paʻi ʻehā-Dimensional** > ʻO kekahi o nā ala no ka hoʻomohala ʻana i ka hana hoʻohui gradient functional ʻo ia ka hana ʻana o nā ʻano paʻi ʻehā-dimensional (4D) no ka paʻa robotic palupalu, i hoʻokō ʻia ma ka hoʻohui ʻana i ka hoʻohālikelike ʻana o ka hoʻopili ʻana i ka paʻi 3D me nā actuators hydrogel palupalu. Hāʻawi kēia hana i kahi ala manaʻo no ka hana ʻana i kahi gripper robotic palupalu kūʻokoʻa ikehu, nona kahi substrate paʻa paʻi 3D i hoʻololi ʻia i hana ʻia mai ka thermoplastic polyurethane (TPU) a me kahi actuator e pili ana i ka gelatin hydrogel, e ʻae ana i ka deformation hygroscopic i hoʻolālā ʻia me ka ʻole o ka hoʻohana ʻana i nā kūkulu mechanical paʻakikī. > > ʻO ka hoʻohana ʻana i kahi hydrogel i hoʻokumu ʻia i ka gelatin 20% e hāʻawi i ka hana biomimetic robotic palupalu i ka ʻano a kuleana no ka stimulus akamai - ka hana mechanical pane o ka mea i paʻi ʻia ma ka pane ʻana i nā kaʻina hana pehu i nā wahi wai. ʻO ka hana ʻili i kuhikuhi ʻia o ka polyurethane thermoplastic i loko o kahi argon - oxygen no 90 s, ma ka mana o 100 w a me ke kaomi o 26.7 pa, e hoʻomaʻamaʻa i nā loli i kona microrelief, no laila e hoʻomaikaʻi ana i ka hoʻopili ʻana a me ke kūpaʻa o ka gelatin pehu ma kona ʻili. > > ʻO ka manaʻo i hoʻomaopopo ʻia o ka hana ʻana i nā ʻano comb biocompatible i paʻi ʻia 4D no ka macroscopic underwater soft robotic gripping hiki ke hāʻawi i ka noninvasive local gripping, lawe i nā mea liʻiliʻi, a hoʻokuʻu i nā mea bioactive ma luna o ka pehu ʻana i ka wai. No laila, hiki ke hoʻohana ʻia ka huahana hopena ma ke ʻano he actuator biomimetic ponoʻī, kahi ʻōnaehana encapsulation, a i ʻole robotics palupalu. 3. **Hōʻike ʻana i nā ʻāpana o waho no ka 3D-Paʻi ʻia ʻo Humanoid Robot Arm me nā ʻano like ʻole a me nā mānoanoa** > Me ka hoʻomohala ʻana o ka humanoid robotics, pono nā ʻaoʻao waho palupalu no ka launa pū ʻana o ke kanaka - robot. ʻO nā ʻano Auxetic i loko o nā mea meta - he ala hoʻohiki ia e hana i nā ʻaoʻao palupalu o waho. Loaʻa i kēia mau ʻano nā waiwai mechanical kūikawā. Hoʻohana nui ʻia ka paʻi 3D, ʻoiai ka hana filament fused (FFF), e hana i ia mau ʻano. Hoʻohana pinepine ʻia ka polyurethane Thermoplastic (TPU) ma FFF ma muli o kona elasticity maikaʻi. Manaʻo kēia haʻawina e hoʻomohala i kahi uhi waho palupalu no ka robot humanoid Alice III me ka hoʻohana ʻana i ka paʻi FFF 3D me kahi filament Shore 95A TPU. > > Ua hoʻohana ke aʻo ʻana i kahi filament TPU keʻokeʻo me kahi mīkini paʻi 3D e hana i nā lima robot humanoid 3DP. Ua māhele ʻia ka lima robot i nā ʻāpana lima a me ka lima o luna. Ua hoʻopili ʻia nā ʻano like ʻole (paʻa a me ka re - entrant) a me nā mānoanoa (1, 2, a me 4 mm) i nā laʻana. Ma hope o ka paʻi ʻana, ua hana ʻia nā hoʻokolohua kūlou, tensile, a me compressive e kālailai i nā waiwai mechanical. Ua hōʻoia nā hopena ua maʻalahi ke kūlou ʻana o ka ʻano re - entrant i ke kūlou ʻana a koi aku i ka liʻiliʻi o ke kaumaha. I nā hoʻokolohua compressive, ua hiki i ka ʻano re - entrant ke kū i ka ukana i hoʻohālikelike ʻia me ka ʻano paʻa. > > Ma hope o ke kālailai ʻana i nā mānoanoa ʻekolu, ua hōʻoia ʻia he ʻano maikaʻi loa ka hale hoʻokomo hou me ka mānoanoa 2 mm ma ke ʻano o ke kūlou ʻana, ka tensile, a me nā waiwai compressive. No laila, ʻoi aku ka kūpono o ke ʻano hoʻokomo hou me ka mānoanoa 2 mm no ka hana ʻana i kahi lima robot humanoid i paʻi ʻia ma 3D. 4. **Hāʻawi kēia mau Pads "ʻIli Palupalu" TPU i paʻi ʻia ma 3D i nā Robots i kahi Manaʻo Hoʻopā Haʻahaʻa a Koʻikoʻi** > Ua hōʻea mai nā mea noiʻi mai ke Kulanui o Illinois Urbana - Champaign me kahi ala haʻahaʻa e hāʻawi i nā robots i kahi manaʻo hoʻopā kanaka: nā pads ʻili palupalu i paʻi ʻia ma 3D e pālua ana ma ke ʻano he mau mea ʻike kaomi mechanical. > > Loaʻa pinepine i nā mea ʻike robotic Tactile nā ​​​​​​ʻano uila paʻakikī loa a he pipiʻi loa, akā ua hōʻike mākou hiki ke hana ʻia nā koho hana a paʻa me ke kumu kūʻai haʻahaʻa loa. Eia kekahi, ʻoiai he nīnau wale nō ia o ka hoʻonohonoho hou ʻana i kahi mīkini paʻi 3D, hiki ke hoʻopilikino maʻalahi ʻia ke ʻano like i nā ʻōnaehana robotic like ʻole. Hiki i nā lako hana robotic ke hoʻokomo i nā ikaika nui a me nā torques, no laila pono e hana ʻia me ka palekana inā e launa pū pololei me nā kānaka a i ʻole e hoʻohana ʻia i nā wahi kanaka. Manaʻo ʻia e pāʻani ka ʻili palupalu i kahi kuleana koʻikoʻi ma kēia ʻano no ka mea hiki ke hoʻohana ʻia no ka mālama palekana mechanical a me ka ʻike tactile. > > Hana ʻia ka sensor o ka hui me ka hoʻohana ʻana i nā pads i paʻi ʻia mai ka thermoplastic urethane (TPU) ma kahi mīkini paʻi Raise3D E2 3D ma waho o ka papa. Uhi ka papa waho palupalu i kahi ʻāpana hollow infill, a i ka wā e kaomi ʻia ai ka papa waho, hoʻololi ke kaomi ea i loko - e ʻae ana i kahi sensor kaomi Honeywell ABP DANT 005 i hoʻopili ʻia i kahi microcontroller Teensy 4.0 e ʻike i ka haʻalulu, ka pā, a me ka hoʻonui ʻana i ke kaomi. E noʻonoʻo ʻoe makemake ʻoe e hoʻohana i nā robots ʻili palupalu e kōkua i kahi hoʻonohonoho haukapila. Pono lākou e hoʻomaʻemaʻe mau ʻia, a i ʻole pono e hoʻololi mau ʻia ka ʻili. I kēlā me kēia ʻaoʻao, aia ke kumukūʻai nui. Eia nō naʻe, he hana scalable loa ka paʻi 3D, no laila hiki ke hana ʻia nā ʻāpana hoʻololi me ke kumukūʻai haʻahaʻa a maʻalahi ke hoʻopaʻa ʻia ma luna a ma waho o ke kino robot. 5. **Ka Hana ʻana o nā TPU Pneu - Nā ʻUpena ma ke ʻano he mau mea hoʻoikaika robotic palupalu** > Ma kēia pepa, ua noiʻi ʻia ka hana hoʻohui (AM) o ka polyurethane thermoplastic (TPU) ma ke ʻano o kāna noi ʻana ma ke ʻano he mau ʻāpana robotic palupalu. Ke hoʻohālikelike ʻia me nā mea AM elastic ʻē aʻe, hōʻike ʻo TPU i nā waiwai mechanical maikaʻi loa e pili ana i ka ikaika a me ke kaumaha. Ma o ka sintering laser koho, ua paʻi ʻia nā actuators bending pneumatic (pneu - nā ʻupena) ma ke ʻano he hihia hihia robotic palupalu a ua loiloi ʻia me ka hoʻokolohua e pili ana i ka deflection ma luna o ke kaomi kūloko. ʻIke ʻia ka leakage ma muli o ka paʻa ʻana o ka ea ma ke ʻano he hana o ka mānoanoa o ka paia o nā actuators. > > No ka wehewehe ʻana i ke ʻano o nā robotics palupalu, pono e hoʻokomo ʻia nā wehewehe mea hyperelastic i nā hiʻohiʻona deformation geometric i hiki ke - no ka laʻana - analytical a helu paha. Ke aʻo nei kēia pepa i nā hiʻohiʻona like ʻole e wehewehe i ke ʻano bending o kahi actuator robotic palupalu. Hoʻopili ʻia nā hoʻāʻo mea mechanical e parameterize i kahi kumu hoʻohālike mea hyperelastic e wehewehe i ka polyurethane thermoplastic i hana ʻia me ka additively. > > Ua hoʻohālikelike ʻia kahi simulation helu e pili ana i ke ʻano hana finite element e wehewehe i ka deformation o ka actuator a hoʻohālikelike ʻia me kahi kumu hoʻohālike analytical i paʻi ʻia no ia actuator. Hoʻohālikelike ʻia nā wānana kumu hoʻohālike ʻelua me nā hopena hoʻokolohua o ka actuator robotic palupalu. ʻOiai ua hoʻokō ʻia nā deviations nui e ke kumu hoʻohālike analytical, ua wānana ka simulation helu i ke kihi kūlou me nā deviations awelika o 9°, ʻoiai ʻoi aku ka lōʻihi o ka helu ʻana o nā simulations helu. I loko o kahi ʻano hana hana automated, hiki i nā robotics palupalu ke hoʻopiha i ka hoʻololi ʻana o nā ʻōnaehana hana paʻa i ka hana agile a akamai.