3D打印磁控柔性抓手

3D printing magnetic soft gripper

柔性抓手能够在外部刺激下发生形变,在货物运输等领域有较好的应用。然而,目前使用的柔性抓手响应速度慢,对货物的形态和质量都有着较高要求,无法像人手一样适配绝大多数场景,因此有必要开发一种响应速度快、适配各种货物的柔性抓手。本文将硬磁材料--钕铁硼粉末(NdFeB)与硅橡胶(Room temperature vulcanized rubber,RTV橡胶)进行共混复合,形成了一种可打印的磁响应NdFeB-RTV橡胶复合材料。通过对墨水直写3D打印技术的制造工艺参数的探索和优化,将NdFeB-RTV橡胶复合材料的前驱体墨水打印成型。该材料固化后呈现出优异的力学性能-断裂伸长率接近300%,抗拉强度为1.03 MPa,拉伸杨氏模量为1.27 MPa,弯曲强度为78.06 MPa,弯曲模量为160.96 MPa。最后,本文采用墨水直写3D打印技术,设计制造了磁响应的四臂抓手机器人。利用机器人的磁致动与柔韧特性,实现了灵活变形、快速抓取、平稳运输等功能。

The soft gripper can deform under external stimuli,and has a good application in the fields of cargo transportation.However,the current soft gripper has a slow response speed,and cannot adapt to most scenarios like a human hand to move the cargoes with various shapes and weights.Therefore,it is necessary to develop a soft gripper with fast response speed and adaptation for various cargoes.In this work,a hard magnetic material−Neodymium-Iron-Boron powder(NdFeB)was blended with a room temperature vulcanized rubber(RTV rubber)to form a printable magnetically responsive NdFeB-RTV rubber composite.Through the exploration and optimization of the manufacturing process-related parameters of the direct ink writing technology,the precursor ink of the NdFeB-RTV rubber composite could be accurately printed into various shapes.The material exhibits excellent mechanical properties after curing:The elongation at break is close to 300%,the tensile strength is 1.03 MPa,the tensile Young's modulus is 1.27 MPa,the flexural strength is 78.06 MPa,and the flexural modulus is 160.96 MPa.Finally,the direct ink writing technology was used to design and manufacture a magnetically responsive four-arm gripper robot.Using the magnetic actuation and flexibility characteristics of the robot,functions such as soft deformation,fast grasping,and smooth transportation are realized.