阅读说明：本技术 基于三维打印技术和电流变材料打印软体机械手的方法 (Method for printing soft manipulator based on three-dimensional printing technology and electrorheological material ) 是由 黄睿涛 施建平 冯春梅 杨继全 邱鑫 李娜 杨建飞 汤浩 杨帅 于 2020-12-10 设计创作，主要内容包括：本发明的一种基于三维打印技术和电流变材料打印软体机械手的方法,包括S1,建模：首先对软体机械手进行建模,留出内部通道及电极位置；然后将建模切片,传输至多材料三维打印系统；S2,模型打印：多材料三维打印机打印软体机械手的主体部分,同时用填充材料将内部通道和电极位置填充；S3,去除填充材料：将初步打印完成的模型采用水浴加热的方式,将通道内的填充材料融化、去除；S4,安装电极：制备液态电流变材料并将制备好的液态电流变材料注入内部通道中,并在内部通道的两端安装电极,完成软体机械手的制作。本发明将可以改变材料状态的电流变材料应用于软体机械手中,能够在需要时,加强软体机械手的刚性,使其适用于更多环境中。(The invention discloses a method for printing a software manipulator based on a three-dimensional printing technology and an electrorheological material, which comprises the following steps of S1: firstly, modeling a soft mechanical arm, and reserving an internal channel and an electrode position; then, transmitting the modeling slice to a multi-material three-dimensional printing system; s2, model printing: printing the main body part of the soft manipulator by the multi-material three-dimensional printer, and filling the internal channel and the electrode position with filling materials; s3, removing the filling material: melting and removing the filling material in the channel of the model subjected to preliminary printing in a water bath heating mode; s4, mounting an electrode: preparing a liquid electro-rheological material, injecting the prepared liquid electro-rheological material into the internal channel, and installing electrodes at two ends of the internal channel to complete the manufacture of the soft manipulator. The electrorheological material capable of changing the material state is applied to the soft manipulator, so that the rigidity of the soft manipulator can be enhanced when needed, and the soft manipulator is suitable for more environments.)

1. A method for printing a soft manipulator based on a three-dimensional printing technology and an electrorheological material is characterized by comprising the following steps: the method comprises the following steps:

s1, modeling: firstly, modeling is carried out on a soft mechanical arm by using modeling software, and an internal channel and an electrode position are reserved during modeling; then slicing the modeling by using slicing software, and transmitting the modeling slices to a multi-material three-dimensional printing system;

s2, model printing: the multi-material three-dimensional printer prints the main body part of the soft manipulator by using a high-melting-point substrate material, and simultaneously fills the internal channel and the electrode position by using a low-melting-point filling material;

s3, removing the filling material: melting and removing the filling material in the channel by adopting a water bath heating mode for the model subjected to preliminary printing and utilizing the principle that the melting points of the substrate material and the filling material are different;

s4, mounting electrodes and injecting current change materials: preparing a liquid electro-rheological material, injecting the prepared liquid electro-rheological material into the internal channel, and installing electrodes at two ends of the internal channel to complete the manufacture of the soft manipulator.

2. The method for printing the soft manipulator based on the three-dimensional printing technology and the electrorheological material according to claim 1, wherein the method comprises the following steps: in S1, the modeling software is solid works three-dimensional modeling software, and the slicing software is Slic3r slicing software.

3. The method for printing the soft manipulator based on the three-dimensional printing technology and the electrorheological material according to claim 1, wherein the method comprises the following steps: in S2, the substrate material is a high-melting-point silica gel material; the filling material adopts sugar with low melting point.

Technical Field

The invention belongs to the technical field of 3D printing, and particularly relates to a method for printing a software manipulator based on a three-dimensional printing technology and an electrorheological material.

Background

The three-dimensional printing technology, also called 3d printing, started in the middle of the last 90 s, is different from the material reduction manufacturing idea of the traditional manufacturing industry, adopts the material increase stacking forming mode, has advantages in the production of a plurality of special structures, is complementary with the traditional manufacturing industry, and jointly promotes the transformation of the modern manufacturing industry.

The principle of the three-dimensional printing technology can be summarized as model building, layered manufacturing and layer-by-layer superposition. Model building is mainly realized by software, and from the aspect of single-layer manufacturing and superimposed feature classification, the model building with application prospects and potentials is mainly divided into 5 types: SLA-stereolithography, FDM-volumetric modeling, LOM-layered solid fabrication, 3 DP-three-dimensional powder bonding, and SLS-selective laser sintering. The materials for various manufacturing methods are different, and currently, SLA technology mainly uses liquid photosensitive resin, FDM technology mainly uses filiform hot-melt plastic, LOM uses thin-film material, SLS uses metal powder, and 3DP uses metal powder or plastic powder. Not all materials are suitable for three-dimensional printing techniques, so from another point of view, the physical properties of the materials themselves limit the application of different techniques. It is worth mentioning that printing of materials such as resin and silica gel is gradually mature and applied to the manufacture of some soft robots.

Electrorheological materials were discovered by an american called winsler in 1947 that he added gypsum, lime and carbon powder to olive oil and then stirred with water to form a suspension, which he surprisingly found to flow freely like water or oil in tests without an applied electric field; however, upon application of an electric field, the liquid changes from a free-flowing liquid to a solid immediately within milliseconds; but also the strength of the solid increases with increasing electric field strength and voltage. This phenomenon can also be "reversed", i.e. it can be immediately changed from a solid to a liquid when the electric field is removed. At present, the application of the electrorheological material in the automobile clutch and brake has been widely researched, the electrorheological material has new development in the field of intelligent manufacturing in recent years, professor of the material metallurgy system of the university of michigan has been philippinary and even predicts: "electrorheological variants are likely to produce a greater revolution than semiconductors.

Soft robots are currently based on purely pneumatic systems, which, although they can be activated without any electronic control, require power by themselves. In addition, there are still a lot of problems in the application of software robot. Taking a soft manipulator as an example, when an irregular object with a large weight is grabbed, the flexibility of the manipulator reduces the reliability, and the manipulator lacks sufficient rigidity to fix the object in the grabbing process.

Disclosure of Invention

The invention aims to solve the technical problem of providing a method for printing a soft manipulator based on a three-dimensional printing technology and an electrorheological material, which is used for applying the electrorheological material capable of changing the material state to the soft robot and enhancing the rigidity of the soft manipulator when needed so as to be suitable for more environments.

The invention adopts the following technical scheme for solving the technical problems:

a method for printing a software manipulator based on a three-dimensional printing technology and an electrorheological material comprises the following steps:

s1, modeling: firstly, modeling is carried out on a soft mechanical arm by using modeling software, and an internal channel and an electrode position are reserved during modeling; then slicing the modeling by using slicing software, and transmitting the modeling slices to a multi-material three-dimensional printing system;

s2, model printing: the multi-material three-dimensional printer prints the main body part of the soft manipulator by using a high-melting-point substrate material, and simultaneously fills the internal channel and the electrode position by using a low-melting-point filling material;

s3, removing the filling material: melting and removing the filling material in the channel by adopting a water bath heating mode for the model subjected to preliminary printing and utilizing the principle that the melting points of the substrate material and the filling material are different;

s4, mounting electrodes and injecting current change materials: preparing a liquid electro-rheological material, injecting the prepared liquid electro-rheological material into the internal channel, and installing electrodes at two ends of the internal channel to complete the manufacture of the soft manipulator.

Further, in S1, solid works three-dimensional modeling software is selected as the modeling software, and Slic3r slicing software is adopted as the slicing software.

Further, in S2, the base material is a high melting point silica gel material; the filling material adopts sugar with low melting point.

Compared with the prior art, the invention adopting the technical scheme has the following technical effects:

the electrorheological material is applied to the soft manipulator, so that the rigidity of the soft manipulator can be increased, the soft manipulator is suitable for more environments, and a new idea is provided for the manufacture of the soft robot by using a three-dimensional printing technology.

Drawings

FIG. 1 is a schematic view of a single robot printing model;

FIG. 2 is a schematic diagram of a multi-manipulator soft robot;

FIG. 3 is a diagram illustrating the operation state of the soft robot.

In the figure, 1, a soft manipulator; 2. an electrode; 3. an internal channel; 4. a pneumatic control system.

Detailed Description

The technical scheme of the invention is further explained in detail by combining the attached drawings:

a method for printing a soft manipulator based on three-dimensional printing technology and electrorheological material, as shown in fig. 1, 2 and 3, comprising the following steps:

s1, modeling: firstly, modeling is carried out on a soft mechanical arm by using modeling software, and an internal channel and an electrode position are reserved during modeling; then slicing the modeling by using slicing software, and transmitting the modeling slices to a multi-material three-dimensional printing system; in S1, the modeling software is solid works three-dimensional modeling software, and the slicing software is Slic3r slicing software.

S2, model printing: the multi-material three-dimensional printer prints the main body part of the soft manipulator by using a high-melting-point substrate material, and simultaneously fills the internal channel and the electrode position by using a low-melting-point filling material; in S2, the substrate material is a high-melting-point silica gel material; the filling material adopts sugar with low melting point.

S3, removing the filling material: and melting and removing the filling material in the channel by adopting a water bath heating mode for the model subjected to preliminary printing and utilizing the principle that the melting points of the substrate material and the filling material are different.

S4, mounting electrodes and injecting current change materials: preparing a liquid electro-rheological material, injecting the prepared liquid electro-rheological material into the internal channel, and installing electrodes at two ends of the internal channel to complete the manufacture of the soft manipulator.

Description of specific embodiments:

the invention is realized by a three-dimensional printing technology. Firstly, modeling is carried out on a soft mechanical arm to be molded through modeling software, a proper internal channel and an electrode installation position are designed at a part, needing to change rigidity, of the soft mechanical arm, and then the model is transmitted to a multi-material three-dimensional printer. The printing materials are divided into two types: silica gel material is selected as a base material, low-melting-point materials such as sugar and the like are selected as filling materials, and the single-layer printing is overlapped layer by layer to initially form a model. Because the silica gel material as the substrate material has a higher melting point and the filling material has a lower melting point, the sacrificial material with a low melting point is completely removed by a water bath heating mode by utilizing the principle of different melting points, and the inner channel of the soft manipulator is left empty.

The prepared electrorheological material is injected into an internal channel of the empty soft manipulator, electrodes are arranged at two ends of the channel, and a power supply is arranged inside the channel and used for changing the voltage applied to the electrorheological material. Meanwhile, the pneumatic control mode of the traditional soft manipulator, namely a pneumatic control system, is still adopted, when voltage is not applied to the electrorheological material, the electrorheological material is liquid and cannot generate excessive resistance to influence the action of the manipulator, so that the control of the soft manipulator filled with the electrorheological material is the same as that of a common soft manipulator, when the rigidity of the soft manipulator needs to be increased, the voltage at two ends of the electrorheological material is changed into a solid state, the hardness is increased, and the part of the soft manipulator, which needs to be enhanced in rigidity, can be reinforced. Thus, the rigidity of the soft manipulator can be changed as a whole, and the action of the soft manipulator has higher flexibility. By controlling the power supply, the voltage grades with different sizes are applied to the two ends of the electrorheological material, so that the rigidity of the manipulator can be changed according to specific conditions, and the manipulator is suitable for more environments.

It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.

The above embodiments are only for illustrating the technical idea of the present invention, and the protection scope of the present invention is not limited thereby, and any modifications made on the basis of the technical scheme according to the technical idea of the present invention fall within the protection scope of the present invention. While the embodiments of the present invention have been described in detail, the present invention is not limited to the above embodiments, and various changes can be made without departing from the spirit of the present invention within the knowledge of those skilled in the art.