Experimental Study of Embedded 3D Printing PDMS Materials for Soft Robots

doi:10.3969/j.issn.1004-132X.2021.19.011

Abstract

Abstract: Based on the independently built embedded direct ink writing（DIW） 3D printing system， the embedded 3D printing of a complex internal structure for the soft robots was realized by using PDMS as the printing material in hydrogel. The properties of the PDMS materials were analyzed in detail and the printing processes were simulated to determine the combination of processing para-meters. The experiments of curing stretching contrast， monofilament round wire printing and round tube printing were carried out to determine the optimal combination of printing parameters. Finally， using the optimal parameter combinations， the complex bionic structures， flexible check valves and soft grippers were printed and related experiments were carried out to verify the feasibility of using embedded 3D printing PDSM to manufacture soft robots with complex structures.

Key words: embedded 3D printing, polydimethylsiloxane（PDMS） material, soft robot, processing parameter optimization

摘要： 基于自主搭建的嵌入式直接喷墨打印（DIW）式3D打印系统，对聚二甲基硅氧烷（PDMS）材料在水凝胶中进行打印，实现了软体机器人复杂内部结构的嵌入式3D打印。对PDMS材料性能进行了详细分析，并对打印过程进行了模拟仿真，从而确定了工艺参数组合；开展了固化拉伸对比实验、单丝圆线打印实验以及圆管打印实验，确定了最优打印参数组合；最后使用所确定的最优参数组合，打印出复杂仿生结构、柔性单向阀和软体抓手并进行相关实验，验证了采用嵌入式3D打印PDMS的方式制造复杂结构软体机器人的可行性。

关键词: 嵌入式3D打印, 聚二甲基硅氧烷材料, 软体机器人, 工艺参数优化

CLC Number:

TN205

ZHANG Wei, MA Kaiqi, JIN Guoqing, . Experimental Study of Embedded 3D Printing PDMS Materials for Soft Robots[J]. China Mechanical Engineering, 2021, 32(19): 2357-2366.

张伟, 马恺骐, 金国庆, . 面向软体机器人的嵌入式3D打印聚二甲基硅氧烷材料实验研究[J]. 中国机械工程, 2021, 32(19): 2357-2366.

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