用软质塑料颗粒3D打印出可伸缩千倍的弹性膜，用于软体机器人
Pellet-based 3D Printing of Soft Thermoplastic Elastomeric Membranes for Soft Robotic Applications
- 用TPE颗粒直接3D打印超软弹性膜，硬度低至00-30
- 打印膜可拉伸1320%，制成的执行器能弯曲180度，承重238倍自重
- 膜兼具抓取与触觉传感功能，适合柔性机器人应用
增材制造（AM）为软体机器人复杂结构的制造提供了有前景的解决方案。然而，高弹性材料的3D打印仍面临挑战，可用材料种类有限。本文探索了使用颗粒状热塑性弹性体（TPEs）进行3D打印，其硬度低至Shore 00-30。结果表明，所打印的TPE材料在工程应力和最大伸长率方面与Ecoflex OO-10相当。此外，成功打印出厚度为0.2–1.2 mm的气密性薄膜，可拉伸至原长度的1320%。结合膜的大幅膨胀与柔软性，以及中空结构的3D打印，简化了弯曲执行器的设计，该执行器可实现180度弯曲，且堵转力达自重的238倍。进一步地，通过将TPE颗粒与刚性丝材复合打印，实现了物体包裹式抓取或作为传感吸盘的功能，依赖TPE的柔软性贴合物体或形成密封。同时，吸盘膜本身可作为触觉传感器，在吸附前检测物体。这些结果表明，利用软TPE及其膜结构进行增材制造，是实现软体机器人及智能驱动/传感一体化系统的可行路径。
原文摘要 · Abstract (English)
Additive Manufacturing (AM) is a promising solution for handling the complexity of fabricating soft robots. However, the AM of hyperelastic materials is still challenging with a limited material range. Within this work, pellet-based 3D printing of very soft thermoplastic elastomers (TPEs) was explored (down to Shore Hardness 00-30). Our results show that TPEs can have similar engineering stress and maximum elongation as Ecoflex OO-10. In addition, we 3D-printed airtight thin membranes (0.2-1.2 mm), which could inflate up to a stretch of 1320%. Combining the membrane's large expansion and softness with the 3D printing of hollow structures simplified the design of a bending actuator that can bend 180 degrees and reach a blocked force of 238 times its weight. In addition, by 3D printing TPE pellets and rigid filaments, the soft membrane could grasp objects by enveloping an object or as a sensorized sucker, which relied on the TPE's softness to conform to the object or act as a seal. In addition, the membrane of the sucker acted as a tactile sensor to detect an object before adhesion. These results suggest the feasibility of AM of soft robots using soft TPEs and membranes as a promising class of materials and sensorized actuators, respectively.
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