光驱动软体结构增材制造工艺研究

Additive Manufacturing Based on Light Driven Soft Structure

针对光驱动软体机器人结构简单、成型工序复杂、且性能稳定性差的缺点,将增材制造技术应用于光驱动材料与结构的制造,开发了一种基于聚二甲基硅氧烷(PDMS)和碳纳米管(CNT)双层复合材料的增材制造工艺。工艺探索表明:注射泵流量为0.05mL/min、喷头移动速度为为30mm/s、打印喷头直径为0.3mm时,打印的PDMS平面有较好的平整度;当注射泵流量为0.4mL/min、喷头移动速度为33mm/s、打印喷头直径为0.4mm时,打印出的CNT单道成型轨迹较为连续和均匀,且打印出的平面较为平整;并且随着打印的PDMS、CNT层厚度的增加,双层结构的光驱动响应速度都会逐渐减小。增材制造软体机器手在光照下能够实现模仿人手的捏、抓、握等基本动作,表明了研究的光驱动材料增材制造工艺的可行性,为该类光驱动材料在软体机器人中的进一步应用奠定了基础。

For the disadvantages of light-driven materials used in soft robots, such as simplestructure, complex forming process, and poor performance stability, we apply the additive manufacturing technology to the manufacture of light-driven materials and structures, and develop a method for the additive manufacturing process of polydimethylsiloxane （PDMS） and carbon nanotube （CNT） double-layer composites. The process testing shows that when the injection pump flow is 0.05 mL/min, the head moving speed is 30 mm/s and the print head diameter is 0. 3 mm,the printed PDMS plane has the better flatness; when the injection pump flow is 0. 4 mL/min, the nozzle moving speed is 33 mm/s and the diameter of the head is 0. 4 mm,the printed CNT single-track forming track ismore continuous and uniform,and the printed plane is flat; and as the printed PDMS layer thickness or the CNT layer thickness increase,the response speed of the optical drive in the two-layer structure gradually lowers. Via the additivemanufacturing technology,a soft robot hand is printed. It can simulate gripping of human hands under light,demonstrating the feasibility of the additive manufacturing process for light-driven materials.