TPU (Thermoplastic Polyurethane)Ili ndi zinthu zabwino kwambiri monga kusinthasintha, kusinthasintha, komanso kukana kuvala, zomwe zimapangitsa kuti igwiritsidwe ntchito kwambiri m'magawo ofunikira a maloboti okhala ndi anthu monga zophimba zakunja, manja a roboti, ndi masensa ogwirira. Pansipa pali zinthu zachingerezi zomwe zasankhidwa kuchokera m'mapepala odalirika amaphunziro ndi malipoti aukadaulo: 1. **Kapangidwe ndi Kupanga kwa Dzanja la Roboti Lokhala ndi AnthuZinthu Zapamwamba za TPU** > **Chidule**：Pepala lomwe laperekedwa pano njira zothetsera mavuto a dzanja la roboti lopangidwa ndi anthu. Ma roboti tsopano ndi gawo lopita patsogolo kwambiri ndipo nthawi zonse pakhala cholinga chotsanzira machitidwe ndi machitidwe a anthu. Dzanja lopangidwa ndi anthu ndi njira imodzi yotsanzira machitidwe ofanana ndi a anthu. Mu pepalali, lingaliro lopanga dzanja lopangidwa ndi anthu lokhala ndi ufulu wa madigiri 15 ndi ma actuator 5 lafotokozedwa bwino komanso kapangidwe ka makina, njira yowongolera, kapangidwe kake, ndi zinthu zapadera za dzanja la roboti zakambidwa. Dzanja lili ndi mawonekedwe ofanana ndi a anthu ndipo limatha kuchita ntchito zofanana ndi za anthu, mwachitsanzo, kugwira ndi kuwonetsa manja. Zotsatira zake zikuwonetsa kuti dzanja lapangidwa ngati gawo limodzi ndipo silifunikira mtundu uliwonse wosonkhanitsira ndipo limasonyeza mphamvu yabwino kwambiri yonyamula zolemera, chifukwa limapangidwa ndi polyurethane yosinthasintha ya thermoplastic.Zinthu (TPU), ndipo kusinthasintha kwake kumatsimikiziranso kuti dzanja ndi lotetezeka polumikizana ndi anthu. Dzanja ili lingagwiritsidwe ntchito mu robot yopangidwa ndi munthu komanso mu dzanja lopangidwa ndi pulasitiki. Kuchuluka kochepa kwa ma actuator kumapangitsa kuti kulamulira kukhale kosavuta komanso kuti dzanja likhale lopepuka. 2. **Kusintha Malo a Thermoplastic Polyurethane Popanga Gripper Yofewa ya Robotic Pogwiritsa Ntchito Njira Yosindikizira ya Magawo Anayi** > Njira imodzi yopangira kupanga zowonjezera zogwira ntchito ndi kupanga mapangidwe osindikizidwa amitundu inayi (4D) kuti agwire robotic yofewa, zomwe zimachitika pophatikiza kusindikiza kwa 3D kophatikizidwa ndi ma actuator ofewa a hydrogel. Ntchitoyi ikupereka njira yolingalira yopangira gripper yofewa ya robotic yodziyimira payokha, yokhala ndi substrate yosinthidwa ya 3D yosindikizidwa yopangidwa kuchokera ku thermoplastic polyurethane (TPU) ndi actuator yochokera ku gelatin hydrogel, yomwe imalola kusintha kwa hygroscopic popanda kugwiritsa ntchito zomangamanga zovuta zamakina. > > Kugwiritsa ntchito 20% gelatin - hydrogel yochokera ku gelatin imapereka ntchito yofewa ya robotic biomimetic ku kapangidwe kake ndipo imayang'anira ntchito yanzeru yolimbikitsa - yoyankha makina ya chinthu chosindikizidwa poyankha njira zotupa m'malo amadzimadzi. Kugwira ntchito kwa thermoplastic polyurethane pamwamba pake mu argon - okosijeni kwa masekondi 90, pa mphamvu ya 100 w ndi kupanikizika kwa 26.7 pa, kumathandizira kusintha kwa microrelief yake, motero kumathandizira kumamatira ndi kukhazikika kwa gelatin yotupa pamwamba pake. > > Lingaliro lodziwika bwino lopanga mapangidwe ogwirizana ndi biocompatible a 4D osindikizidwa a macroscopic underwater soft robotic gripping lingapereke kugwira kosavulaza komweko, kunyamula zinthu zazing'ono, ndikutulutsa zinthu zogwira ntchito pakatupa m'madzi. Chifukwa chake, chinthucho chingagwiritsidwe ntchito ngati actuator ya biomimetic yodziyendetsa yokha, dongosolo lozungulira, kapena robotics yofewa. 3. **Kufotokozera Zigawo Zakunja za Mkono wa Roboti wa Munthu Wosindikizidwa ndi 3D Wokhala ndi Mapangidwe ndi Makulidwe Osiyanasiyana** > Ndi chitukuko cha ma roboti aumunthu, mawonekedwe ofewa akunja amafunika kuti anthu azilumikizana bwino ndi ma roboti. Kapangidwe ka Auxetic mu meta - zipangizo ndi njira yabwino yopangira mawonekedwe ofewa akunja. Kapangidwe kameneka kali ndi mawonekedwe apadera amakina. Kusindikiza kwa 3D, makamaka kupanga filament (FFF), kumagwiritsidwa ntchito kwambiri popanga mapangidwe otere. Thermoplastic polyurethane (TPU) imagwiritsidwa ntchito kwambiri mu FFF chifukwa cha kusinthasintha kwake kwabwino. Kafukufukuyu cholinga chake ndikupanga chivundikiro chakunja chofewa cha roboti waumunthu Alice III pogwiritsa ntchito kusindikiza kwa FFF 3D ndi ulusi wa Shore 95A TPU. > > Kafukufukuyu adagwiritsa ntchito ulusi woyera wa TPU wokhala ndi chosindikizira cha 3D popanga manja a roboti waumunthu wa 3DP. Mkono wa robot unagawidwa m'zigawo za mkono ndi mkono wapamwamba. Mapangidwe osiyanasiyana (olimba ndi okhazikika) ndi makulidwe (1, 2, ndi 4 mm) adagwiritsidwa ntchito pa zitsanzo. Pambuyo posindikiza, mayeso opindika, omangika, ndi oponderezedwa adachitika kuti afufuze mawonekedwe amakina. Zotsatira zake zinatsimikizira kuti kapangidwe ka re-entry kanali kosavuta kupindika kulowera ku khola lopindika ndipo kamafuna kupsinjika kochepa. Mu mayeso okakamiza, kapangidwe ka re-entry kanatha kupirira katundu poyerekeza ndi kapangidwe kolimba. > > Pambuyo pofufuza makulidwe onse atatu, zinatsimikiziridwa kuti kapangidwe ka re-entry kokhala ndi makulidwe a 2 mm kanali ndi makhalidwe abwino kwambiri pankhani yopindika, kukoka, ndi kukanikiza. Chifukwa chake, kapangidwe ka re-entry kokhala ndi makulidwe a 2 mm ndi koyenera kwambiri popanga mkono wa robot wosindikizidwa wa 3D. 4. **Ma Pad a TPU Osindikizidwa a 3D "Ofewa" Amapatsa Maloboti Kukhudza Kotsika Mtengo, Komvera Kwambiri** > Ofufuza ochokera ku University of Illinois Urbana - Champaign abwera ndi njira yotsika mtengo yopatsira maloboti kukhudza kofanana ndi kwa munthu: Ma Pad a khungu lofewa osindikizidwa a 3D omwe amagwiranso ntchito ngati masensa opanikizika amakina. > > Masensa a robotic ogwira nthawi zambiri amakhala ndi zida zamagetsi zovuta kwambiri ndipo ndi okwera mtengo kwambiri, koma tawonetsa kuti njira zina zogwira ntchito komanso zolimba zitha kupangidwa motchipa kwambiri. Komanso, popeza ndi nkhani yongosintha pulogalamu yosindikizira ya 3D, njira yomweyi ingasinthidwe mosavuta kuti igwirizane ndi machitidwe osiyanasiyana a robotic. Zipangizo za robotic zimatha kukhala ndi mphamvu zazikulu komanso ma torque, kotero ziyenera kukhala zotetezeka ngati zikugwirizana mwachindunji ndi anthu kapena kugwiritsidwa ntchito m'malo okhala anthu. Zikuyembekezeka kuti khungu lofewa lidzakhala ndi gawo lofunika kwambiri pankhaniyi chifukwa lingagwiritsidwe ntchito potsatira chitetezo cha makina komanso kuzindikira kukhudza. > > Sensa ya gululi imapangidwa pogwiritsa ntchito mapepala osindikizidwa kuchokera ku thermoplastic urethane (TPU) pa chosindikizira cha Raise3D E2 3D chopanda -- cha -- cha -- cha off -- cha -- cha Raise3D E2 3D. Gawo lofewa lakunja limaphimba gawo lodzaza lopanda kanthu, ndipo pamene gawo lakunja likukanikizidwa, kuthamanga kwa mpweya mkati mwake kumasintha moyenerera - kulola sensa ya Honeywell ABP DANT 005 yolumikizidwa ku microcontroller ya Teensy 4.0 kuti izindikire kugwedezeka, kukhudza, ndi kupanikizika kowonjezereka. Tangoganizirani mukufuna kugwiritsa ntchito maloboti ofewa kuti athandize kuchipatala. Angafunike kutsukidwa nthawi zonse, kapena khungu liyenera kusinthidwa nthawi zonse. Mulimonsemo, pali mtengo waukulu. Komabe, kusindikiza kwa 3D ndi njira yowonjezereka kwambiri, kotero zigawo zosinthika zimatha kupangidwa motsika mtengo komanso mosavuta kulowa ndi kutuluka m'thupi la loboti. 5. **Kupanga Zowonjezera za TPU Pneu - Maukonde ngati Ma Robotic Actuators Ofewa** > Mu pepalali, kupanga zowonjezera (AM) za thermoplastic polyurethane (TPU) kumafufuzidwa potengera momwe zimagwiritsidwira ntchito ngati zigawo zofewa za roboti. Poyerekeza ndi zipangizo zina zotanuka za AM, TPU ikuwonetsa mphamvu zapamwamba zamakanika pankhani ya mphamvu ndi kupsinjika. Mwa kusankha laser sintering, ma pneumatic bending actuators (pneu - maukonde) amasindikizidwa mu 3D ngati kafukufuku wofewa wa roboti ndipo amayesedwa mwachiyembekezo potengera kupotoka kwa mphamvu yamkati. Kutayikira chifukwa cha kulimba kwa mpweya kumawonedwa ngati ntchito ya makulidwe ochepa a khoma la ma actuators. > > Pofotokoza momwe ma robotics ofewa amagwirira ntchito, mafotokozedwe a zinthu zokhuthala ayenera kuphatikizidwa mu zitsanzo za geometric deformation zomwe zingakhale - mwachitsanzo - analytical kapena number. Pepalali limaphunzira mitundu yosiyanasiyana kuti lifotokoze momwe ma actuator ofewa a roboti amagwirira ntchito. Mayeso a zinthu zamakina amagwiritsidwa ntchito poyesa chitsanzo cha zinthu za hyperelastic kuti afotokoze polyurethane yopangidwa ndi thermoplastic. > > Kuyerekeza manambala kutengera njira ya finite element kumayesedwa kuti afotokoze kusintha kwa actuator ndipo kumayerekezeredwa ndi chitsanzo chowunikira chomwe chatulutsidwa posachedwa cha actuator yotere. Maulosi onse awiriwa amayerekezeredwa ndi zotsatira zoyesera za actuator yofewa ya robotic. Ngakhale kuti kusiyana kwakukulu kumapezedwa ndi chitsanzo chowunikira, kuyerekezera manambala kumaneneratu ngodya yopindika ndi kusiyana kwapakati kwa 9°, ngakhale kuti kuyerekezera manambala kumatenga nthawi yayitali kwambiri pakuwerengera. Mu malo opangira okha, robotics zofewa zimatha kuthandizira kusintha kwa machitidwe olimba opangira kukhala opanga achangu komanso anzeru.
Nthawi yotumizira: Novembala-25-2025