Space scalable type mechanical arm based on 4D printing and expanding and contracting method thereof

[0022] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention.

[0023] See Figure 1-3 To illustrate this embodiment, a space retractable robotic arm based on 4D printing includes a hollow columnar structure 1, a first pressing plate 2 and a second pressing plate 3. The hollow columnar structure 1 is formed by 4D printing technology, and the hollow columnar The material of the structure 1 is a shape memory polymer, the wall surface of the hollow columnar structure 1 is distributed in a net shape, and the two ends of the hollow columnar structure 1 are respectively connected with the first pressing plate 2 and the second pressing plate 3.

[0024] The shape memory polymer of the present invention is a polylactic acid material, which has thermoplasticity and shape memory effects, can be actively deformed under thermal excitation conditions, is directly printed and formed without assembly, and is a single structure with adjustable diameter and length. The hollow columnar structure 1 is a hollow cylindrical structure, a hollow triangular prism structure or a hollow quadrangular prism structure, etc., and the wall surface mesh mesh of the hollow columnar structure 1 is a rhombus or a regular hexagon, etc., and the number of meshes can be determined according to actual requirements . A heavy object is placed at the front end of the second pressing plate 3 or a catching mechanism is installed, which can accomplish the task of catching a non-cooperative target at a predetermined position.

[0025] The present invention also provides a telescopic method for a 4D printing-based spatial telescopic mechanical arm, which includes the following steps:

[0026] Step 1: Place the space-telescopic manipulator in an environment higher than the glass transition temperature of the shape memory polymer, fix the first pressure plate 2 on the plane, and apply an axial load to the second pressure plate 3 to make the hollow cylindrical structure 1 compression;

[0027] Step 2: Keep the position of the second pressure plate 3 unchanged, lower the ambient temperature to room temperature, until the surface temperature of the hollow columnar structure 1 reaches room temperature, then cancel the axial load applied to the second pressure plate 3;

[0028] Step 3: Place the compressed spatially retractable mechanical arm in an environment higher than the glass transition temperature of the shape memory polymer, and the hollow cylindrical structure 1 is stretched and expanded to the pre-compressed state under the excitation of environmental thermal stimulation.

[0029] When the hollow cylindrical structure 1 of the present invention is compressed, it is compressed to one third of its original length, and the environment of the glass transition temperature is air, vacuum or hydrothermal environment.

[0030] The above provides a detailed introduction to the 4D printing-based spatially retractable robotic arm and its retractable method provided by the present invention. Specific examples are used in this article to illustrate the principle and implementation of the present invention. The description of the above examples It is only used to help understand the method and core idea of ​​the present invention; at the same time, for those of ordinary skill in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation and application scope. In summary, The content of this specification should not be construed as limiting the present invention.