3D printing antagonistic systems of artificial muscle using projection stereolithography
3D printing antagonistic systems of artificial muscle using projection stereolithography
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DOI：
10.1088/1748-3190/10/5/055003
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发表时间：
2015-10-01
影响因子：
3.4
通讯作者：
Shepherd, Robert F.
中科院分区：
文献类型：
--
作者：
Peele, Bryan N.;Wallin, Thomas J.;Shepherd, Robert F.
介绍了一种用于软执行器3D打印的数字掩模投影立体光刻系统的详细机械设计。一种商业上可用的，可光聚合的弹性体材料在其液体和固体形式中被识别和表征，使用流变学和拉伸测试。评估了其在直接打印高自由度（DOF）软执行器中的使用能力。结果是类似于40%的应变，以失败的打印弹性体结构。利用所得到的材料特性，分析了折叠致动器结构的数值模拟，以减少应力集中并提高致动振幅。然后制作对抗性折叠驱动器对并测试四自由度，触手状运动。这些拮抗对在不到70毫秒的时间内横扫它们的整个运动范围（类似于180度）。
The detailed mechanical design of a digital mask projection stereolithgraphy system is described for the 3D printing of soft actuators. A commercially available, photopolymerizable elastomeric material is identified and characterized in its liquid and solid form using rheological and tensile testing. Its capabilities for use in directly printing high degree of freedom (DOF), soft actuators is assessed. An outcome is the similar to 40% strain to failure of the printed elastomer structures. Using the resulting material properties, numerical simulations of pleated actuator architectures are analyzed to reduce stress concentration and increase actuation amplitudes. Antagonistic pairs of pleated actuators are then fabricated and tested for four-DOF, tentacle-like motion. These antagonistic pairs are shown to sweep through their full range of motion (similar to 180 degrees) with a period of less than 70 ms.