Pneumatic inchworm-like soft robot based on 3D printing technology

A 3D printing and inchworm imitation technology, which is applied to 3D object support structures, manipulators, program-controlled manipulators, etc., can solve the problems of lack of manufacturing accuracy in production time, and achieve fine appearance, high molding accuracy, and thin printing layers.

Active Publication Date: 2020-08-21
JIANGSU UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This method is lacking in production time and manufacturing precision

Method used

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  • Pneumatic inchworm-like soft robot based on 3D printing technology
  • Pneumatic inchworm-like soft robot based on 3D printing technology

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0025] The design process of the three-dimensional model of the soft robot is: using Solidworks software to design the three-dimensional model of the robot imitating the inchworm robot driven by magnetic fluid, the model includes a head part, a torso part and a tail part, such as figure 1 shown. The size of the head part and the tail part is 20mmX20mmX30mm, the section size of the arc-shaped torso part is 20mmX20mm, the arc length is 130mm, and the total horizontal length from the head part to the tail part is 120mm. Such as figure 1 , figure 2 As shown, the bottom surface of the head part and the tail part is respectively provided with a triangular head foothold 1-3 and a tail foothold 1-2, wherein 2 triangular prisms (4mmX2mmX4mm) are a group, and the head part and the tail part There are 4 groups on the bottom surface, and the triangles all have the same orientation, which is used for crawling on the ground. The head part and the tail part are respectively sealed and co...

Embodiment 2

[0027] The 3D printing manufacturing process of the inchworm-like soft robot is as follows: the 3D printing method adopted is stereolithography (SLA), and polyurethane acrylate (PUA) and 2,4,6 (trimethylbenzoyl) diphenyl Phosphine oxide (TOP) is used as the prepolymer and photoinitiator of the photosensitive resin respectively, and the two are formulated into a photosensitive resin with a mass fraction of 95% and 5%; the slice thickness of the 3D printer printing model is set to 0.1mm, and the designed Import the 3D model into the 3D printing equipment (preheat to 30°C to start printing, automatically heat to 35°C to maintain a constant temperature, laser characteristics: EN 60825-1:2007 certified Class 1 laser product 405nm violet laser, 250mW laser; laser spot size: 140μm; peeling mechanism: wiper sliding peeling process), complete the molding of the overall structure of the soft robot (printing time depends on the size of the model and its structural complexity). After the ...

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Abstract

The invention relates to soft robots, in particular to a pneumatic inchworm-like soft robot based on a 3D printing technology. The robot is characterized in that a head part and a tail part are located at the two ends of a trunk part; the head part and the tail part are both solid bodies, triangular stand feet in the same direction are arranged at the bottom ends of the head part and the tail part, and the other ends of the head part and the tail part are connected with the two ends of the trunk part in a sealed mode; and the trunk part is arc-shaped, the cross section of the trunk part is square, an arc-shaped cavity is formed in the trunk part, the arc-shaped cavity is a composite M-shaped cavity formed by connecting five trapezoidal cavities in the same plane, the composite M-shaped cavity is distributed in an axial symmetry mode by taking a central vertical axis of the trunk part as an axis, and an air guide hole is formed in the trunk part and used for feeding gas. According to the robot, the pneumatic and cavity deformation is adopted to form redundant drive, so that the bending deformation of the soft robot is achieved; and air is fed in and discharged from the cavity in thetrunk to promote the composite M-shaped cavity to expand and contract so as to control the motion advancing stride of the soft robot.

Description

technical field [0001] The invention relates to the field of 3D printing and soft robots, in particular to a pneumatically driven inchworm-like soft robot based on 3D printing technology. Background technique [0002] In order to improve the flexibility of traditional robots, researchers have added more degrees of freedom to form super-redundant robots, which have certain continuous deformation capabilities, such as snake-shaped robots and elephant-like trunk robotic arms. The environmental adaptability of the super-redundant robot has been greatly improved, but its parts are still rigid bodies, and it is impossible to change its own shape and size. With the continuous development and application of flexible and elastic materials, soft robots have gradually entered people's research field of vision. By imitating the molluscs in nature, researchers have made flexible materials and elastic materials into soft robots, which theoretically have infinite degrees of freedom and co...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/06B25J9/14B29C64/124B29C64/268B29C64/379B33Y80/00B33Y10/00B33Y70/00B33Y40/20B33Y30/00B29K75/00B29K105/00
CPCB25J9/065B25J9/142B29C64/124B29C64/268B29C64/379B33Y80/00B33Y10/00B33Y70/00B33Y40/20B33Y30/00B29K2075/00B29K2105/0005Y02P10/25
Inventor 王晓东薄智辉程广贵徐琳张忠强
Owner JIANGSU UNIV
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