Programmable stiffness 3d printed fabric based on dual-material interlacing weaving and manufacturing method

Abstract

The application discloses a programmable stiffness 3D printing fabric based on double-material staggered weaving and a manufacturing method, and the method comprises the following steps: obtaining a two-dimensional line drawing, marking and dividing the stiffness of flexible materials and rigid materials according to the stiffness requirement of a target area; using a sequence stiffness mapping generation algorithm, dividing the line drawing into a plurality of path segments and giving a binary arrangement code to generate a binary material arrangement sequence; based on the material arrangement sequence, using a staggered layer direction optimization algorithm to plan a path, setting adjacent printing layers to be alternately stacked in 0° and 90° directions, and optimizing the path intersection point spacing and the overlapping area, so that the rigid path and the flexible path of adjacent layers form a geometric interlocking structure in the orthogonal direction; based on the obtained three-dimensional staggered structure model, using a 3D printing device to synchronously extrude flexible materials and rigid materials, printing the fabric structure layer by layer according to the material arrangement sequence, and obtaining a programmable stiffness 3D printing fabric without post-processing, which is suitable for a variety of deformable application scenarios.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of additive manufacturing and flexible functional structure design, and relates to a 3D-printed fabric and a manufacturing method, in particular to a programmable stiffness 3D-printed fabric based on double-material staggered weaving and a manufacturing method. BACKGROUND

[0002] With the rapid development of flexible electronics, smart wearable devices and soft structures, how to realize a flexible fabric material with continuous stiffness control ability, strong structural stability and fast customization has become an important research direction in the current additive manufacturing field. In recent years, three-dimensional printed fabric (3D-printed fabric) as an inter-disciplinary technology path integrating material science, mechanical design and human-computer interaction has been widely used in clothing aids, rehabilitation support, sensing interface and other fields.

[0003] Existing 3D-printed fabric structures are mostly manufactured by using a single material (such as TPU or PLA), and mainly rely on the geometric design (such as honeycomb, grid, thin wall, etc.) of the structural unit or the filling rate control to realize the flexibility change. Although this method has certain deformation ability and processing convenience, it cannot realize fine adjustment of the fabric "stiffness" on a macro scale, and the stiffness range is limited, which is difficult to meet the functional requirements under complex working conditions.

[0004] To expand the performance boundary, some studies attempt to combine flexible materials with rigid materials to realize multi-material coexistence structure through a double-nozzle printing device. However, due to the intrinsic differences between different materials in terms of thermal fusion, cooling shrinkage rate and other aspects, phenomena such as interlayer separation, structure delamination and interface failure are likely to occur during printing, which significantly reduces the durability and stability of the overall structure. At the same time, most of the current multi-material printing schemes lack modeling methods and parameter control mechanisms in the direction of "stiffness control", making it difficult for users to finely set and visually edit target areas, reducing the practicality and universality.

[0005] In summary, the existing 3D-printed fabric technology has the following obvious limitations:

[0006] (1) Narrow stiffness control range and lack of continuity: common methods only adjust flexibility through geometric structure or filling rate, and cannot realize macro-programmable control of regional stiffness, lacking overall planning ability for material distribution and response performance.

[0007] (2) Multi-material interlayer combination is unstable, and the structure is prone to delamination and failure: the thermal performance of flexible and rigid materials does not match, and conventional printing methods cannot realize high-strength embedded connection, and the structure is prone to delamination, cracking and other failure problems under external forces such as stretching and bending.

[0008] (3) Difficulty in supporting material property control and staggered path generation: The existing design process lacks automatic generation and output of stiffness ratio, sequence arrangement, and interlayer staggered arrangement, has a high use threshold, and is difficult to adapt to customized needs and rapid iteration. SUMMARY

[0009] Compared with the prior art, the application discloses a programmable stiffness 3D printed fabric based on double-material staggered weaving and a manufacturing method. The purpose is to realize high-strength interlocking connection of flexible materials and rigid materials and continuous programmable regulation of regional stiffness in the same printing process, and to provide a visual and parameterized design and path planning process to solve the deficiencies of the prior art in stiffness regulation range, interlayer stability, and modeling efficiency.

[0010] The technical scheme adopted by the application is as follows:

[0011] A manufacturing method of a programmable stiffness 3D printed fabric based on double-material staggered weaving, comprising the following steps:

[0012] Obtain a two-dimensional line drawing, and divide the stiffness of the flexible material and the rigid material according to the target regional stiffness requirement;

[0013] Using a sequence stiffness mapping generation algorithm, the line drawing is divided into several path segments and is given a binary arrangement code, and a binary material arrangement sequence is generated, wherein 0 represents a flexible material and 1 represents a rigid material;

[0014] Based on the material arrangement sequence, an interlaced layer direction optimization algorithm is used for path planning, adjacent printing layers are set to be alternately stacked in 0° and 90° directions, and the path intersection point spacing and overlapping area are optimized, so that the rigid path and the flexible path of adjacent layers form a geometric interlocking structure in the orthogonal direction;

[0015] Based on the obtained three-dimensional interlaced structure model, a double-nozzle 3D printing device is used to synchronously extrude flexible materials and rigid materials, and the fabric structure is printed layer by layer according to the material arrangement sequence, to obtain a programmable stiffness 3D printed fabric without post-processing.

[0016] Further, the sequence stiffness mapping generation algorithm specifically includes:

[0017] Divide the line drawing into several path segments, and call a preset coding rule according to the stiffness label corresponding to each path segment;

[0018] Calculate the length proportion of the path segment corresponding to the rigid material code in the local area, and generate a stiffness grade label in combination with continuity;

[0019] Based on the stiffness grade label, match the flexible material or the rigid material, and generate a binary material arrangement sequence.

[0020] Further, the binary code is encoded by using a fixed-length sliding window generation mode, and the binary code sequence is selected from at least one of 0001, 001, 01, 011, 0111 and 111.

[0021] Further, the flexible material is thermoplastic polyurethane (TPU), and the rigid material is polylactic acid (PLA) or polyethylene terephthalate (PETG).

[0022] Further, the staggered layer direction optimization algorithm specifically comprises:

[0023] The path nodes are subjected to topological analysis, and the staggered range and the transition zone length are dynamically adjusted based on the path density and the stiffness gradient at the rigid-flexible interface;

[0024] The path nodes at the rigid-flexible interface are extracted by taking the cross-embedded points in the 0° and 90° directions as the optimization target;

[0025] The control points are generated by using a Voronoi reconstruction algorithm to optimize the arrangement of the cross points under the constraint of the nearest neighbor distance between the nodes;

[0026] The geometric interlocking detection is performed to ensure that the overlapping area of the flexible material and the rigid material is greater than or equal to a preset threshold and forms a mechanical interlocking unit.

[0027] Further, the geometric interlocking detection is: the local path recalculation is performed on the staggered area, and when it is detected that the overlapping area is lower than the preset threshold or the layer misplacement exceeds the tolerance, an auxiliary structure segment is automatically inserted or the path arrangement density is adjusted.

[0028] A programmable stiffness 3D printed fabric based on double-material staggered weaving is prepared by using the above method.

[0029] Further, during the layer-by-layer stacking process, the rigid material path and the flexible material path are orthogonally staggered in the 0° and 90° directions, and a three-dimensional geometric interlocking structure is formed by cross-embedded points.

[0030] Further, the bending modulus of the fabric continuously covers the interval of 65MPa to 400MPa.

[0031] A use of a programmable stiffness 3D printed fabric, the fabric is used to make a wearable device, a rehabilitation aid or a furniture cover layer.

[0032] Compared with the prior art, the beneficial effects of the present application are:

[0033] (1) The present application realizes continuous programmable control of the stiffness range of 65MPa-400MPa by using binary sequences and staggered arrangement.

[0034] (2) The present application adopts multi-directional geometric embedding instead of thermal adhesion, significantly improves the interlayer bonding strength of multi-material, and avoids delamination failure.

[0035] (3) The method of the present application can be used for visualized, parameterized modeling and path generation process, reducing the design threshold and improving the customization efficiency.

[0036] (4) The printing process of the present application does not need support and post-processing, and directly obtains a flexible-rigid cooperative functional fabric, which is suitable for wearable, rehabilitation aid, furniture coating and other scenes.

[0037] (5) The obtained fabric structure has good use strength and functional response without assembly or gluing, the regional stiffness range can be controlled by material ratio and interlacing degree, and repeated folding, twisting and compression under dynamic load conditions are supported. BRIEF DESCRIPTION OF DRAWINGS

[0038] Figure 1 The flow chart of the manufacturing method of the programmable stiffness 3D printed fabric based on double material interlaced weaving in the embodiment of the present application.

[0039] Figure 2 The local unit structure diagram of the flexible material and the rigid material interlaced arrangement in the embodiment of the present application.

[0040] Figure 3 The modeling and export flow chart of the three-dimensional structure model in the embodiment of the present application, which shows the whole process from input line diagram to printing path generation.

[0041] Figure 4 The schematic diagram of the flexible-rigid material arrangement sequence in the embodiment of the present application. The stiffness distribution model corresponding to the binary code (such as 0001, 011, 0111, etc.) is shown. And the path planning schematic diagram of the sequence stiffness mapping generation algorithm and the interlaced layer direction optimization algorithm, including the 0° and 90° interlaced layer and the Voronoi diagram reconstruction algorithm result.

[0042] Figure 5 The actual application case diagram of the auxiliary touch watchband and printed mask design based on the manufacturing method of the programmable stiffness 3D printed fabric based on double material interlaced weaving in the embodiment of the present application.

[0043] Figure 6 The actual application case diagram of the auxiliary band and customized evening dress design based on the manufacturing method of the programmable stiffness 3D printed fabric based on double material interlaced weaving in the embodiment of the present application.

[0044] Figure 7 The actual application case diagram of the integrated softness customization chair and quick release soft and hard button handle design based on the manufacturing method of the programmable stiffness 3D printed fabric based on double material interlaced weaving in the embodiment of the present application. DETAILED DESCRIPTION

[0045] The technical solutions of the present application will be further clarified, described in detail and illustrated with reference to the accompanying drawings and specific examples.

[0046] The present application provides a manufacturing method of programmable stiffness 3D printed fabric based on double-material staggered weaving, comprising the following steps:

[0047] S1. Obtain a two-dimensional line drawing, and divide the stiffness of the flexible material and the rigid material according to the stiffness requirement of the target area.

[0048] S2. Use a sequence stiffness mapping generation algorithm to divide the line drawing into several path segments and assign a binary arrangement code, generating a binary material arrangement sequence, where 0 represents flexible material and 1 represents rigid material.

[0049] The sequence stiffness mapping generation algorithm specifically includes: dividing the line drawing into several path segments, calling a preset coding rule according to the stiffness label corresponding to each path segment; calculating the length proportion of the path segment corresponding to the rigid material code in the local area, and generating a stiffness level label in combination with continuity; match the flexible material or rigid material based on the stiffness level label, and generate a binary material arrangement sequence.

[0050] The mechanical stiffness of each local area is determined by the "rigid material proportion" in the corresponding area. The higher the rigid proportion, the greater the bending modulus of the area. The regions can be transitioned through flexible connections to realize the rigid-flexible collaborative response of the fabric during the overall deformation process.

[0051] The binary code uses a fixed-length sliding window generation method for coding. The binary code sequence includes 0001, 001, 01, 011, 0111, 1111, etc., corresponding to seven levels of stiffness gradient from extremely flexible to high stiffness, meeting the requirements of different functional areas.

[0052] The flexible material is thermoplastic polyurethane, and the rigid material is polylactic acid or polyethylene terephthalate.

[0053] S3. Based on the material arrangement sequence, use a staggered layer direction optimization algorithm for path planning, set adjacent printing layers to be stacked alternately in 0° and 90° directions, and optimize the path intersection point spacing and overlapping area, so that the rigid path and the flexible path of adjacent layers form a geometric interlocking structure in the orthogonal direction.

[0054] The staggered layer direction optimization algorithm specifically comprises: topological analysis of path nodes, dynamic adjustment of staggered range and transition zone length based on path density and stiffness gradient at rigid-flexible junction; taking the cross-embedded point formed by 0° and 90° directions as an optimization target, extracting the path nodes at the rigid-flexible junction; generating control points by a Voronoi diagram reconstruction algorithm to optimize the cross point arrangement under the constraint of the nearest neighbor distance between nodes; performing geometric interlocking detection to ensure that the overlapping area of the flexible material and the rigid material is greater than or equal to a preset threshold and constitutes a mechanical interlocking unit.

[0055] The geometric interlocking detection is: performing local path recalculation on the staggered area, and automatically inserting an auxiliary structure segment or adjusting the path arrangement density when it is detected that the overlapping area is lower than the preset threshold or the layer misalignment exceeds the tolerance.

[0056] S4. Based on the obtained three-dimensional staggered structure model, a double-nozzle 3D printing device is used to synchronously extrude flexible material and rigid material, and the fabric structure is printed layer by layer according to the material arrangement sequence, to obtain a programmable stiffness 3D printed fabric without post-processing.

[0057] The programmable stiffness 3D printed fabric obtained by the above method, in the process of layer-by-layer stacking, the rigid material path and the flexible material path are orthogonally staggered in 0° and 90° directions, the staggered arrangement structure has mechanical interlocking nodes in three directions (X / Y / Z), and a three-dimensional geometric interlocking structure is formed by cross point embedding, which effectively improves the structural stability under multi-axial stretching and bending. The obtained structure has a bending modulus covering a continuous stiffness interval from about 65 MPa to as high as 400 MPa or more. The bending modulus can continuously cover the interval from 65 MPa to 400 MPa. The obtained fabric structure does not need additional post-processing assembly and can be directly used in wearable, support or deformation application scenarios, and has good adaptability and reusability. Example 1

[0058] In a specific embodiment of the present application, a manufacturing method of a programmable stiffness 3D printed fabric based on double-material staggered weaving is provided, and a flow chart thereof is shown as Figure 1 The manufacturing method comprises the following steps:

[0059] S1. The target fabric structure is converted into a two-dimensional line graph and imported into a parameterized modeling platform. The stiffness of the flexible material and the rigid material is marked and divided in the target area according to the design requirements by using the parameterized modeling tool. The 3D printing model with rigid-flexible attribute labels is finally constructed. The printing model includes two material types of flexible material and rigid material. The designer can set the rigid-flexible ratio of different areas. The sequence coding method is used to control the distribution of material types during the modeling process, and the visual heat map is used to assist in adjusting the local stiffness level.

[0060] S2. Rigidity mapping encoding is performed on the line drawing with rigidity markers, a sequence rigidity mapping generation algorithm is called to generate a material arrangement sequence in which flexible materials and rigid materials are arranged alternately, and is recorded in the printing path;

[0061] The sequence rigidity mapping generation algorithm specifically includes the following steps:

[0062] 1) Discretize the line drawing into multiple path segments, take each path segment as an encoding unit, call a preset rigidity-flexibility encoding rule according to the target rigidity level corresponding to each segment, and perform material arrangement encoding in a binary manner, in which “0” represents a flexible material and “1” represents a rigid material, as shown in the following table. Different regions can use arrangement combinations of 0001, 001, 01, 011, 0111 and 1111 to correspond to seven rigidity gradient levels from extremely flexible to high rigidity, to meet the requirements of different functional regions. Figure 4

[0063] 2) According to the rigidity requirement of the target region, the distribution ratio of flexible materials and rigid materials in the local region is calculated, and a sliding window mechanism is used to generate a binary sequence of material arrangement in combination with the continuity in the path;

[0064] 3) Smooth the sequence boundary through a gradient function to eliminate the interface stress concentration that may be caused by material mutation;

[0065] 4) The generated rigidity-flexibility sequence encoding is attached to the corresponding path segment and is transmitted to the path planning module, and serves as the rigidity control basis for subsequent path planning and printing file output.

[0066] S3. Based on the arrangement sequence, path direction arrangement and structure optimization are performed, an interleaved layer direction optimization algorithm is used to adjust the arrangement direction in each printing layer, so that adjacent printing layers are alternately stacked in 0° and 90° directions, and a Voronoi diagram reconstruction algorithm is used to optimize the point spacing and overlapping area of the path intersection region, so that the rigid path and the flexible path in adjacent layers form a geometric interlocking structure in the orthogonal direction;

[0067] The interleaved layer direction optimization algorithm specifically includes the following steps:

[0068] 1) Initialize the direction sequence of the printing layer, set the odd layer path as 0° direction and the even layer as 90° direction to form a orthogonal structure distribution;

[0069] 2) Extract the path nodes at the rigidity-flexibility junction, perform topological analysis, identify the key interleaved region, and dynamically adjust the interleaved range and transition zone length based on the path density and the gradient change at the rigidity-flexibility junction;

[0070] 3) A Voronoi diagram reconstruction algorithm is used to generate a control point grid, and the arrangement position and overlapping area of the path intersection point are automatically optimized according to the nearest neighbor distance between the material nodes.​

[0071] 4) In each layer path planning, a geometric interlocking detection mechanism is introduced to perform local path recalculation on the staggered area. When the overlap area is insufficient or the interlayer misalignment does not reach the threshold, auxiliary structure segments are automatically inserted or the arrangement density is adjusted to ensure that the flexible line and the rigid line have structure interlocking intersection points in the longitudinal and transverse directions, thereby forming a mechanically interlocking unit. As shown in Figure 2 , the anti-delamination ability and multi-axial stability of the overall structure of the application are significantly improved.

[0072] 5) Output the complete path after staggered optimization, and mark the nozzle start-stop instructions according to the material arrangement sequence.

[0073] S4. The generated three-dimensional staggered structure model is exported in a printable format such as STL, OBJ, or AMF, and imported into a fused deposition modeling (FDM) 3D printing device with double nozzles for printing. The printing device loads flexible material (such as TPU) and rigid material (such as PLA or PETG), which are output synchronously through independent nozzles. During the printing process, each nozzle extrudes the corresponding material in sequence according to the material arrangement sequence based on the path planning instructions, and the fabric structure is printed layer by layer. The flexible material forms a continuous support frame, and the rigid material is embedded to form a rigidity support unit. No additional support structure or post-processing assembly is required during the printing process.

[0074] S5. After printing is completed, a 3D printed fabric with continuously adjustable regional rigidity without post-processing can be obtained directly. The resulting fabric structure exhibits good structural integrity under bending, twisting, and multi-axial stretching conditions. The transition between rigid and flexible regions is natural, and the overall structure has good repeatable deformation ability and functional integration potential, making it suitable for wearable devices, rehabilitation aids, furniture coverings, and other deformable structure scenarios. The overall design process is shown in Figure 3 .

[0075] As shown in Figure 5 , Figure 6 , Figure 7 , the application can be widely applied to the following specific scenarios:

[0076] 1. Intelligent wearable support: suitable for back orthotics, joint support, and other dynamic conforming aids;

[0077] 2. Flexible furniture cover: with local rigidity support and surface fitting functions for seats, backrests, etc.

[0078] 3. Medical rehabilitation equipment: adjust the fabric regional rigidity to meet the needs of different recovery stages;

[0079] 4. Education and DIY material package: support on-demand generation of rigid and flexible region structures for material learning or interactive prototype manufacturing. Example 2

[0080] As Figure 7 shown, a manufacturing method of a quick-release soft-hard composite button handle structure is based on the preparation described in Example 1, and the manufacturing process includes the following steps:

[0081] a. Input two-dimensional line drawing: the user imports the two-dimensional line drawing (such as SVG format) of the button handle structure;

[0082] b. Structure reinforcement design: the user selects the area on the two-dimensional line drawing where additional reinforcement is needed, such as the edge or mounting hole, and generates a rigid embedded contour in the area through Boolean operation to improve the local stability, corresponding to Figure 7 (b1);

[0083] c. Material arrangement path generation: based on the soft and hard attributes given in step b, automatically generate the printing path of double-material interlaced weaving, the soft material path is responsible for deformation, the hard material path provides support, and the adjacent layer path directions are interlaced to enhance the interlayer bonding, corresponding to Figure 7 (b1);

[0084] d. Local adjustment of deformable area: the user fine-tunes the thickness of the soft area and the line spacing corresponding to the pressing feedback area to obtain the required elastic response;

[0085] e. Module division and path output: according to the material partition and structure logic, the overall two-dimensional line drawing is divided into several functional sub-modules, and the G-code path file directly used for double-nozzle FDM equipment is exported, corresponding to Figure 7 (b2);

[0086] f. Double-material printing forming: using a double-nozzle FDM device, load soft material TPU and hard material PLA or PETG respectively, and integrate printing according to the path file obtained in step e, corresponding to Figure 7 (b2);

[0087] g. Splicing and quick-release assembly: after printing is completed, each sub-module is quickly spliced through the pre-designed buckle or fitting structure, without the need for screws or adhesives, to form a detachable button handle assembly, corresponding to Figure 7 (d1) to ​ (d2).

[0088] Other embodiments of the application will be apparent to those skilled in the art from consideration of the specification and practice of the application disclosed herein. It is intended that the application embrace any and all variations, modifications, and adaptations of the application described herein, which are within the scope of the general inventive concept as disclosed herein and including such departures from the present disclosure as come within the known or customary practice in the art to which the application pertains. The specification and examples are to be considered exemplary only, with the true scope and spirit of the application being indicated by the following claims.

[0089] It is to be understood that the present application is not limited to the embodiments already described and shown in the drawings, which can be modified in various ways without departing from the scope of the application. The scope of the application is only limited by the scope of the claims.

Claims

1. A method of manufacturing programmable stiffness 3D printed fabric based on double material interlacing weaving, characterized in that, The method comprises the following steps: obtaining a two-dimensional line drawing, and marking and dividing rigidities of flexible materials and rigid materials according to rigidity requirements of a target area; generating a binary material arrangement sequence by using a sequence rigidity mapping generation algorithm, wherein 0 represents a flexible material, and 1 represents a rigid material; planning a path based on the material arrangement sequence by using an interlaced layer direction optimization algorithm, setting adjacent printing layers to be alternately stacked in 0° and 90° directions, and optimizing a path intersection point spacing and an overlapping area, so that rigid paths and flexible paths of adjacent layers form geometric interlocking structures in orthogonal directions; synchronously extruding the flexible materials and the rigid materials by using a double-nozzle 3D printing device based on the obtained three-dimensional interlaced structure model, printing a fabric structure layer by layer according to the material arrangement sequence, and obtaining a programmable rigidity 3D printed fabric without post-processing.

2. The method of manufacturing a programmable-stiffness 3D-printed fabric based on dual-material interlacing weaving of claim 1, wherein, The sequence rigidity mapping generation algorithm specifically comprises the following steps: dividing the line drawing into a plurality of path segments, and calling a preset coding rule according to a rigidity mark corresponding to each path segment; calculating a path segment length proportion of the corresponding rigid material coding in a local area, and generating a rigidity grade label in combination with continuity; matching the flexible material or the rigid material based on the rigidity grade label, and generating a binary material arrangement sequence.

3. The method of manufacturing a programmable-stiffness 3D-printed fabric based on dual-material interlocking weaving according to claim 2, characterized in that, The binary coding is generated by using a fixed length sliding window generation mode, and the binary coding sequence is at least one of 0001, 001, 01, 011, 0111 and 111.

4. The method of manufacturing a programmable-stiffness 3D-printed fabric based on dual-material interlocking weaving of claim 1, wherein, The flexible material is thermoplastic polyurethane, and the rigid material is polylactic acid or polyethylene terephthalate.

5. The method of manufacturing a programmable-stiffness 3D-printed fabric based on dual-material interlock weaving of claim 1, wherein, The interlaced layer direction optimization algorithm specifically comprises the following steps: performing topological analysis on path nodes, and dynamically adjusting an interlaced range and a transition zone length based on a path density and a rigidity gradient at a rigid-flexible junction; extracting path nodes at the rigid-flexible junction as an optimization target to form cross-embedded points in 0° and 90° directions; generating control points by using a Voronoi diagram reconstruction algorithm to optimize the arrangement of cross points under a nearest neighbor distance constraint between nodes; performing geometric interlocking detection to ensure that a flexible material and a rigid material have an overlapping area greater than or equal to a preset threshold value and form a mechanical interlocking unit.

6. The method of manufacturing a programmable-stiffness 3D-printed fabric based on dual-material interlacing weaving of claim 5, wherein, The geometric interlocking detection is performed by recalculating local paths of an interlaced area, and when it is detected that the overlapping area is lower than the preset threshold value or an interlayer misplacement exceeds a tolerance, an auxiliary structure segment is automatically inserted or the path arrangement density is adjusted.

7. A programmable stiffness 3D printed fabric based on double material interlacing weaving, characterized in that, The fabric is prepared by using the method according to any one of claims 1-6.

8. The programmable stiffness 3D-printed fabric based on dual-material interlacing weaving of claim 7, wherein, In a layer-by-layer stacking process, rigid material paths and flexible material paths are orthogonally interlaced in 0° and 90° directions, and a three-dimensional geometric interlocking structure is formed by cross point embedding.

9. The programmable stiffness 3D-printed fabric based on dual-material interlacing weaving of claim 7, wherein, The fabric has a bending modulus continuously covering an interval of 65 MPa to 400 MPa.

10. Use of a programmable stiffness 3D printed fabric according to any one of claims 7 to 9, characterized in that, The fabric is used to manufacture wearable devices, rehabilitation aids or furniture coverings.

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