Kugwiritsa ntchito TPU Material mu Humanoid Robots

TPU (Thermoplastic Polyurethane)ali ndi zinthu zabwino kwambiri monga kusinthasintha, kusinthasintha, komanso kukana kuvala, zomwe zimapangitsa kuti azigwiritsidwa ntchito kwambiri m'magulu akuluakulu a maloboti a humanoid monga zophimba zakunja, manja a robotic, ndi masensa a tactile. M'munsimu muli zolemba zatsatanetsatane za Chingelezi zosankhidwa kuchokera ku mapepala ovomerezeka a maphunziro ndi malipoti aukadaulo: 1. **Kupanga ndi Kupanga Manja Aanthropomorphic Robotic Kugwiritsa NtchitoZithunzi za TPU**> **Abstract**:Pepala lomwe laperekedwa apa likufuna kuthana ndi zovuta za dzanja la anthropomorphic robotic. Maloboti tsopano ndi gawo lomwe likupita patsogolo kwambiri ndipo nthawi zonse pakhala pali cholinga chotsanzira anthu - monga machitidwe ndi machitidwe. Dzanja la anthropomorphic ndi imodzi mwa njira zotsanzira anthu - monga machitidwe. Mu pepala ili, lingaliro lopanga dzanja la anthropomorphic ndi madigiri a 15 a ufulu ndi ma actuators a 5 afotokozedwa momveka bwino komanso kapangidwe ka makina, dongosolo lowongolera, kapangidwe kake, ndi mawonekedwe a dzanja la roboti zakambidwa. Dzanja lili ndi mawonekedwe anthropomorphic komanso limatha kuchita zamunthu - monga magwiridwe antchito, mwachitsanzo, kugwira ndi manja kuyimira. Zotsatira zake zikuwonetsa kuti dzanja lidapangidwa ngati gawo limodzi ndipo silifuna kusonkhana kwamtundu uliwonse ndipo limakhala ndi mphamvu yonyamula zolemera kwambiri, chifukwa limapangidwa ndi flexible thermoplastic polyurethane.(TPU) zinthu, komanso kusungunuka kwake kumatsimikiziranso kuti dzanja limakhala lotetezeka kuti ligwirizanenso ndi anthu. Dzanja ili likhoza kugwiritsidwa ntchito mu robot ya humanoid komanso dzanja lopangira. Chiwerengero chochepa cha actuators chimapangitsa kuwongolera kukhala kosavuta komanso dzanja lopepuka. 2 **Kusinthidwa kwa Thermoplastic Polyurethane Surface Popanga Soft Robotic Gripper Pogwiritsa Ntchito Njira Yosindikizira ya Four-Dimensional ** > Imodzi mwa njira zomwe zimathandizira kuti pakhale makina opangira ma gradient ndi kupanga makina osindikizira anayi-dimensional (4D) kuti azigwira mofewa, kuphatikiza ma gel osakanikirana ndi ma 3D oyambitsa. Ntchitoyi ikupereka njira yopangira mphamvu - yodziyimira yokha yofewa ya robotic gripper, yopangidwa ndi gawo lapansi losinthidwa la 3D lopangidwa kuchokera ku thermoplastic polyurethane (TPU) ndi actuator yotengera gelatin hydrogel, kulola kupunduka kwadongosolo kwa hygroscopic popanda kugwiritsa ntchito makina ovuta. > > Kugwiritsa ntchito gelatin 20% - yochokera ku hydrogel kumapereka ntchito yofewa ya robotic biomimetic ku kapangidwe kake ndipo imakhala ndi udindo wotsitsimula wanzeru - kuyankha kwamakina a chinthu chosindikizidwa poyankha njira zotupa m'malo amadzimadzi. The chandamale pamwamba functionalization wa thermoplastic polyurethane mu argon - mpweya chilengedwe kwa 90 s, pa mphamvu ya 100 w ndi kuthamanga kwa 26.7 pa, facilitates kusintha microrelief ake, motero kuwongolera adhesion ndi bata la kutupa gelatin pamwamba pake. > > Lingaliro lozindikirika la kupanga 4D zosindikizidwa za biocompatible zisa za macroscopic pansi pamadzi zofewa za robotic zimatha kupangitsa kuti anthu asamavutike m'deralo, kunyamula zinthu zing'onozing'ono, ndi kumasula zinthu zowonongeka m'madzi. Chotsatiracho chitha kugwiritsidwa ntchito ngati chopangira chodzipangira chokha cha biomimetic, encapsulation system, kapena ma robotiki ofewa. 3. **Mawonekedwe a Zigawo Zakunja kwa 3D-Printed Humanoid Robot Arm Yokhala ndi Mapangidwe Osiyanasiyana ndi Makulidwe **> Ndi chitukuko cha robotics humanoid, kunja kofewa kumafunika kuti munthu agwirizane bwino ndi robot. Zomangamanga mu meta - zida ndi njira yodalirika yopangira zakunja zofewa. Zomangamangazi zimakhala ndi makina apadera. Kusindikiza kwa 3D, makamaka fused filament fabrication (FFF), kumagwiritsidwa ntchito kwambiri popanga zinthu zoterezi. Thermoplastic polyurethane (TPU) imagwiritsidwa ntchito kwambiri mu FFF chifukwa cha kulimba kwake. Kafukufukuyu akufuna kupanga chivundikiro chofewa chakunja cha loboti ya humanoid Alice III pogwiritsa ntchito FFF 3D yosindikiza ndi Shore 95A TPU filament. > > Phunziroli linagwiritsa ntchito filament yoyera ya TPU yokhala ndi chosindikizira cha 3D kupanga zida za robot za 3DP humanoid. Dzanja la loboti lidagawidwa m'manja ndi kumtunda kwa mkono. Mapangidwe osiyanasiyana (olimba ndi olowanso) ndi makulidwe (1, 2, ndi 4 mm) adagwiritsidwa ntchito pazitsanzo. Pambuyo pa kusindikiza, kupindika, kuyezetsa, ndi kukakamiza kuyesedwa kuti kusanthula mawonekedwe amakina. Zotsatirazo zidatsimikizira kuti mawonekedwe olowanso anali opindika mosavuta kumapindikira opindika ndipo amafunikira kupsinjika pang'ono. M'mayesero opondereza, mawonekedwe obwereranso adatha kupirira katundu poyerekeza ndi dongosolo lolimba. > Pambuyo posanthula makulidwe onse atatu, zidatsimikiziridwa kuti mawonekedwe olowanso okhala ndi makulidwe a 2 mm anali ndi mikhalidwe yabwino kwambiri yopindika, yolimba, komanso yopingasa. Chifukwa chake, mawonekedwe oloweranso okhala ndi makulidwe a 2 mm ndioyenera kupanga mkono wa loboti wa 3D - wosindikizidwa wa humanoid. 4. **Mapepala awa a 3D-Printed TPU "Soft Skin" Amapatsa Maloboti Kukhudza Kotsika Kwambiri, Kwambiri-Sensitive Sense of Touch** > Ofufuza ochokera ku yunivesite ya Illinois Urbana - Champaign abwera ndi njira yotsika mtengo yopangira maloboti munthu - monga kukhudza: 3D - zosindikizidwa zofewa zapakhungu zomwe zimakhala ngati makina osindikizira. > > Masensa owoneka bwino a robotic nthawi zambiri amakhala ndi zida zamagetsi zovuta kwambiri ndipo ndizokwera mtengo, koma tawonetsa kuti njira zogwirira ntchito, zokhazikika zimatha kupangidwa motchipa kwambiri. Komanso, popeza ndi funso lokonzanso chosindikizira cha 3D, njira yomweyi imatha kusinthidwa mosavuta kumakina osiyanasiyana a robotic. Zida zamabotolo zimatha kukhala ndi mphamvu zazikulu ndi ma torque, chifukwa chake ziyenera kukhala zotetezeka ngati zitha kulumikizana mwachindunji ndi anthu kapena kugwiritsidwa ntchito m'malo a anthu. Zikuyembekezeka kuti khungu lofewa likhala ndi gawo lofunikira pankhaniyi popeza litha kugwiritsidwa ntchito potsata chitetezo pamakina komanso kumveka bwino. > > Sensa ya gululi imapangidwa pogwiritsa ntchito mapepala osindikizidwa kuchokera ku thermoplastic urethane (TPU) pozimitsa - shelf Raise3D E2 3D printer. Chigawo chofewa chakunja chimakwirira gawo lopanda kanthu, ndipo ngati gawo lakunja limapanikizidwa kupanikizika kwa mpweya mkati mwakusintha moyenerera - kulola Honeywell ABP DANT 005 sensor sensor yolumikizidwa ndi Teensy 4.0 microcontroller kuti izindikire kugwedezeka, kukhudza, ndi kuwonjezereka kwamphamvu. Tangoganizani kuti mukufuna kugwiritsa ntchito maloboti ofewa kuti muthandizire kuchipatala. Ayenera kuyeretsedwa nthawi zonse, kapena khungu liyenera kusinthidwa pafupipafupi. Mulimonsemo, pali mtengo waukulu. Komabe, kusindikiza kwa 3D ndi njira yowongoka kwambiri, kotero kuti magawo osinthika amatha kupanga motsika mtengo komanso kuthamangitsidwa mosavuta ndikutuluka paroboti. 5. ** Zowonjezera Zopanga za TPU Pneu - Nets monga Soft Robotic Actuators ** > Papepalali, kupanga zowonjezera (AM) za thermoplastic polyurethane (TPU) zimafufuzidwa pakugwiritsa ntchito kwake monga zigawo zofewa za robotic. Poyerekeza ndi zida zina zotanuka za AM, TPU imawulula makina apamwamba kwambiri okhudzana ndi mphamvu ndi kupsinjika. Mwa kusankha laser sintering, pneumatic kupinda ma actuators (pneu - nets) ndi 3D kusindikizidwa ngati kafukufuku wofewa wa robotic ndikuwunikidwa moyesera pokhudzana ndi kupatuka pa kukakamiza kwamkati. Kutayikira chifukwa cha kulimba kwa mpweya kumawonedwa ngati ntchito ya makulidwe ochepa a khoma la actuators. > > Kufotokozera za khalidwe la robotics zofewa, mafotokozedwe a zinthu za hyperelastic ayenera kuphatikizidwa muzojambula za geometric deformation zomwe zingakhale - mwachitsanzo - kufufuza kapena kuwerengera. Pepalali limaphunzira mitundu yosiyanasiyana yofotokozera momwe ma robotic actuator amapindika. Kuyesa kwazinthu zamakina kumagwiritsidwa ntchito potengera mtundu wazinthu za hyperelastic kufotokoza zowonjezera zopangidwa ndi thermoplastic polyurethane. > > Kuyerekeza kwa manambala kutengera njira yomaliza ya chinthucho kumayikidwa kuti ifotokoze kusinthika kwa actuator ndikuyerekeza ndi mtundu wowunikira womwe wasindikizidwa posachedwapa wa actuator yotere. Zoneneratu zonse ziwirizi zikufanizidwa ndi zotsatira zoyeserera za cholumikizira chofewa cha robotic. Ngakhale kupatuka kwakukulu kumatheka ndi chitsanzo chowunikira, kuyerekezera kwa manambala kumaneneratu mbali yopindika yokhala ndi zopotoka za 9 °, ngakhale kuyerekezera kwa manambala kumatenga nthawi yayitali kuti kuwerengetsedwe. M'malo opangira makina, ma robotiki ofewa amatha kuthandizira kusinthika kwa machitidwe okhwima opangira kukhala opanga okalamba komanso anzeru.