用旋转多材料3D打印实现软机器人自适应形变，可快速制造带气动通道的可编程软体结构。
Rotational Multi-material 3D Printing of Soft Robotic Matter with Asymmetrical Embedded Pneumatics
- 通过旋转多材料打印构建异构芯壳纤维，控制芯材取向与截面形状。
- 去除可溶芯材后形成内部气道，实现按需驱动的多种形变模式。
- 适合快速原型设计软体机器人，如仿手抓取器等复杂结构。
软体机器人的快速设计与制造在形态变换、驱动及可穿戴设备中日益重要。本文提出一种简便的制造方法，可制备嵌入气动结构的软体材料，实现可编程的形态变化。利用旋转多材料3D打印技术，将由弹性外壳与可溶芯材组成的异构芯壳纤维以一维或二维图案打印。通过精确控制喷嘴设计、旋转速度和打印路径，可调节每根打印纤维中可溶芯材的局部取向、形状及横截面积。弹性基质固化后，去除可溶芯材，留下内部气道，实现气动驱动。采用连接的费马螺旋路径规划方法，可自动生成复杂软体机器人（如仿手抓取器）所需的打印路径。该集成设计与打印方法可快速构建具有多种可控形变能力的软体机器人。
原文摘要 · Abstract (English)
The rapid design and fabrication of soft robotic matter is of growing interest for shape morphing, actuation, and wearable devices. Here, we report a facile fabrication method for creating soft robotic materials with embedded pneumatics that exhibit programmable shape morphing behavior. Using rotational multi-material 3D printing, asymmetrical core-shell filaments composed of elastomeric shells and fugitive cores are patterned in 1D and 2D motifs. By precisely controlling the nozzle design, rotation rate, and print path, one can control the local orientation, shape, and cross-sectional area of the patterned fugitive core along each printed filament. Once the elastomeric matrix is cured, the fugitive cores are removed, leaving behind embedded conduits that facilitate pneumatic actuation. Using a connected Fermat spirals pathing approach, one can automatically generate desired print paths required for more complex soft robots, such as hand-inspired grippers. Our integrated design and printing approach enables one to rapidly build soft robotic matter that exhibits myriad shape morphing transitions on demand.
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