基于3D打印的柔性夹持器制造与仿真

2019 Symposium on Piezoelectrcity,Acoustic Waves and Device Applications (SPAWDA) Pub Date : 2019-01-01 DOI:10.1109/SPAWDA.2019.8681858

Angela Tong, Jianying Hu, Minghua Zhang, Yuan Jin, Jianke Du

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引用次数: 3

摘要

提出了一种结合3D打印和机电控制系统的柔性夹持器。利用形状记忆聚合物的热力学行为进行电机驱动控制抓取后的动作复位。该夹持器采用高循环寿命形状记忆聚合物光聚合制备。实验结果表明，含有10wt%交联剂和1wt% 1.5wt%光引发剂的形状记忆聚合物表现出优异的性能，在数秒内形状记忆性能的完全恢复、固定和稳定性接近100%。建立了数值模型，并对仿真结果进行了验证。采用机电控制系统，灵活的抓取器可以很容易地控制抓取物体，同时保持抓取力，从而证明了生物医学和软机器人应用的未来前景。

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Flexible Gripper Manufacturing and Simulation Based on 3D Printing

A flexible gripper combining 3D printing and electromechanical control system is presented. The thermodynamic behavior of shape memory polymer is used to action resetting after motor drive controls grasping. The gripper is fabricated using photopolymerization with high cycle-life shape memory polymers. Experimental results show that shape memory polymers with 10wt% crosslinker and 1wt%$\sim$1.5wt% photo-initiators exhibit excellent performance with nearly 100% full recovery, fixity and stability of the shape memory properties within seconds. Besides, a numerical model is established and the simulation results are validated. Using an electromechanical control system, the flexible gripper is easily controlled to grasp objects while maintaining the grasping force, thus proving a future perspective for biomedical and soft robotic applications.

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来源期刊

2019 Symposium on Piezoelectrcity,Acoustic Waves and Device Applications (SPAWDA)

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