Ikoreshwa ry'ibikoresho bya TPU muri Roboti za Humanoid

TPU (Polurethane yo mu bwoko bwa Thermoplastic)ifite imiterere itangaje nko koroha, gukomera no kudashira, bigatuma ikoreshwa cyane mu bice by'ingenzi bya robots zimeze nk'abantu nka za robots zo hanze, amaboko ya robots, na sensors zo gukoraho. Hasi hari ibikoresho birambuye by'Icyongereza byatoranijwe mu nyandiko zemewe z'amasomo na raporo za tekiniki: 1. **Igishushanyo n'Iterambere ry'Igikoresho cya Robotic Gikoresha Imbuto z'AbantuIbikoresho bya TPU** > **Incamake**: Inyandiko yatanzwe hano uburyo bwo gukemura ikibazo cy'urukozasoni rw'intoki za roboti zikoresha imiterere y'abantu. Robotike ubu ni yo ishami riteye imbere cyane kandi habayeho umugambi wo kwigana imikorere n'imyitwarire y'abantu. Ikiganza kikoresha imiterere y'abantu ni bumwe mu buryo bwo kwigana imikorere nk'iy'abantu. Muri iyi nyandiko, igitekerezo cyo guteza imbere ikiganza kikoresha imiterere y'abantu gifite ubwisanzure bwa dogere 15 n'ibikoresho 5 bikoresha imiterere y'umubiri cyarasobanuwe ndetse n'imiterere y'imashini, uburyo bwo kugenzura, imiterere, n'imiterere y'intoki za roboti byaraganiriweho. Ikiganza gifite imiterere nk'iy'abantu kandi gishobora no gukora imikorere nk'iy'abantu, urugero, gufata no kwerekana ibimenyetso by'intoki. Ibisubizo bigaragaza ko ikiganza cyakozwe nk'igice kimwe kandi ntigikeneye ubwoko ubwo aribwo bwose bwo guteranya kandi kigaragaza ubushobozi bwiza bwo guterura ibiro, kuko gikozwe muri polyurethane yoroshye ya thermoplastic.Ibikoresho (TPU), kandi ubushobozi bwayo bworoshye butuma ikiganza kiba gitekanye mu gukorana n'abantu. Iki kiganza gishobora gukoreshwa muri robo imeze nk'umuntu ndetse no mu ntoki zikora ubugororangingo. Umubare muto w'ibikoresho bituma uburyo bwo kugenzura bworoha kandi ukuboko koroha. 2. **Guhindura Ubuso bwa Polyurethane ya Thermoplastic kugira ngo hakorwe Gripper yoroshye ya Roboti hakoreshejwe Uburyo bwo gucapa bufite imiterere ine** > Imwe mu nzira zo guteza imbere imikorere y'inyongera zikora neza ni ukurema inyubako zacapwe zifite imiterere ine (4D) zo gufata roboti zoroshye, bigerwaho binyuze mu guhuza imashini zicapa za 3D zivanze n'ibikoresho bikoresha hydrogel byoroshye. Iki gikorwa gitanga uburyo bwo gukora gripper yoroshye ya roboti yigenga, igizwe n'icyuma gikozwe muri 3D cyacapwe gikozwe muri polyurethane ya thermoplastic (TPU) n'icyuma gikoresha gelatin hydrogel, bigatuma habaho hygroscopic deformation yateguwe hatabayeho gukoresha imiterere igoye ya mekanike. > > Gukoresha hydrogel ishingiye kuri 20% ya gelatin itanga imikorere ya roboti yoroshye ya biomimetic ku miterere kandi ikaba ishinzwe imikorere y’ubwenge ya stimulus - responsive ya mechanical y’ikintu cyacapwe binyuze mu gusubiza inzira zo kubyimba mu bidukikije by’amazi. Imikorere y’ubuso bwa polyurethane ya thermoplastic mu bidukikije bya argon - ogisijeni mu gihe cy’amasegonda 90, ku ngufu za 100 watts n’umuvuduko wa 26.7 pa, byoroshya impinduka mu miterere ya microrelief yayo, bityo bikanoza gufatana no kudahungabana kwa gelatin yabyimbye ku buso bwayo. > > Igitekerezo cyagezweho cyo gukora imiterere ya 4D yacapwe biocompatible biocompatible yo gufata roboti yoroshye munsi y’amazi gishobora gutanga uburyo bwo gufata ahantu hatagaragara, gutwara ibintu bito, no kurekura ibintu bifatika iyo amazi abyimbye. Bityo, umusaruro uvamo ushobora gukoreshwa nk'igikoresho cya biomimetic cyikoresha, sisitemu yo gufunga, cyangwa roboti zoroshye. 3. **Imiterere y'Ibice byo hanze bya Roboti ya 3D-Capished humanoid ifite Imiterere n'Ubunini butandukanye** > Hamwe n'iterambere rya roboti zikoresha imiterere y'umuntu, inyuma horoshye harakenewe kugira ngo imikorere myiza ya roboti ikoreshwe neza. Imiterere ya Auxetic mu bikoresho bya meta ni uburyo bwiza bwo gukora inyuma horoshye. Izi nyubako zifite imiterere yihariye ya mekanike. Icapiro rya 3D, cyane cyane ikorwa rya filament (FFF), rikoreshwa cyane mu gukora iyo miterere. Polyurethane ya Thermoplastic (TPU) ikoreshwa cyane muri FFF bitewe n'uburyo ikora neza. Ubu bushakashatsi bugamije guteza imbere igipfukisho cyo hanze cyoroshye cya roboi ya humanoid Alice III hakoreshejwe icapiro rya FFF 3D hamwe na filament ya Shore 95A TPU. > > Ubushakashatsi bwakoresheje filament yera ya TPU ifite imashini ya 3D mu gukora amaboko ya roboi ya 3DP humanoid. Ukuboko kwa roboishe kwagabanijwemo ibice byo ku kuboko no hejuru. Imiterere itandukanye (ikomeye kandi igaragara) n'ubunini (1, 2, na 4 mm) byashyizwe ku ngero. Nyuma yo gucapiro, hakozwe ibizamini byo kunama, gukurura, no gukanda kugira ngo hasesengurwe imiterere ya mekanike. Ibisubizo byemeje ko imiterere ya re-entry yari yoroshye gupfunyika igana ku murongo wo kugonda kandi yasabaga umuvuduko muto. Mu bizamini byo gupfunyika, imiterere ya re-entry yashoboye kwihanganira umutwaro ugereranije n'imiterere ikomeye. > > Nyuma yo gusesengura ubunini bwose uko ari butatu, byemejwe ko imiterere ya re-entry ifite ubugari bwa mm 2 yari ifite imiterere myiza mu bijyanye no gupfunyika, gukurura, no gupfunyika. Kubwibyo, imiterere ya re-entry ifite ubugari bwa mm 2 ikwiriye cyane mu gukora ukuboko kwa roboti ya 3D yacapwe n'umuntu. 4. **Utu dupapuro twa TPU twacapwe mu buryo bwa 3D "Soft Skin" dutanga Robots Ubushobozi bwo gukoraho buhendutse kandi bugaragara cyane** > Abashakashatsi bo muri Kaminuza ya Illinois Urbana - Champaign bazanye uburyo buhendutse bwo guha roboti Ubushobozi bwo gukoraho nk'ubw'umuntu: udupapuro twa 3D - uruhu rworoshye rwacapwe rukoreshwa nk'udupima tw'umuvuduko wa mekanike. > > Udupima twa roboti dufata ubusanzwe tuba dufite ubwoko bugoye cyane bw'ibikoresho by'ikoranabuhanga kandi turahenze cyane, ariko twerekanye ko ubundi buryo bukora kandi burambye bushobora gukorwa buhendutse cyane. Byongeye kandi, kubera ko ari ikibazo cyo kuvugurura icyuma gicapa cya 3D, ubwo buryo bushobora guhindurwa byoroshye hakurikijwe sisitemu zitandukanye za roboti. Ibikoresho bya roboti bishobora gukoresha imbaraga nini n'imbaraga nyinshi, bityo bigomba gukorwa mu mutekano niba bigiye gukorana n'abantu cyangwa bigakoreshwa mu bidukikije. Biteganijwe ko uruhu rworoshye ruzagira uruhare runini muri uru rwego kuko rushobora gukoreshwa haba mu kubahiriza umutekano wa mekanike no mu kumenya ibintu. > > Sensor y'ikipe ikozwe hakoreshejwe udupapuro twacapwe muri thermoplastic urethane (TPU) kuri printer ya Raise3D E2 3D idakora. Agace ko hanze koroshye gatwikira igice cy'imyobo, kandi uko agace ko hanze gakandamizwa, umuvuduko w'umwuka imbere urahinduka uko bikwiye - bigatuma sensor y'umuvuduko ya Honeywell ABP DANT 005 ihuzwa na microcontroller ya Teensy 4.0 kugira ngo imenye guhindagura, gukoraho, no kwiyongera k'umuvuduko. Tekereza ushaka gukoresha robo zoroshye kugira ngo zifashe mu bitaro. Byakenera gusukurwa buri gihe, cyangwa uruhu rugomba gusimburwa buri gihe. Uko byagenda kose, hari ikiguzi kinini. Ariko, gucapa 3D ni inzira yoroshye cyane, bityo ibice bishobora guhindurwa bishobora gukorwa ku buryo buhendutse kandi byoroshye gukurura no kuva kuri robo. 5. **Gukora inyongera za TPU Pneu – Imbuga nk'Imbuga zoroshye za Robotic Actuators** > Muri iyi nyandiko, ikorwa ry'inyongera (AM) rya polyurethane ya thermoplastic (TPU) rirasuzumwa mu rwego rwo gukoreshwa nk'ibice byoroshye bya roboti. Ugereranyije n'ibindi bikoresho bya AM bya elastic, TPU igaragaza imiterere myiza ya mekanike mu bijyanye n'imbaraga n'uburemere. Binyuze mu gusya kwa laser, imbuga zo mu mwuka zikora (pneu – imbuga) zicapwe mu buryo bwa 3D nk'inyigo yoroshye ya roboti kandi zigasuzumwa mu buryo bw'igerageza ku bijyanye no kunyura hejuru y'umuvuduko w'imbere. Gusohoka bitewe no gufungana k'umwuka bigaragazwa nk'uko bigaragazwa n'ubugari bw'inkuta z'imbuga zoroshye. > > Kugira ngo hasobanurwe imyitwarire ya roboti zoroshye, ibisobanuro by'ibikoresho bya hyperelastic bigomba gushyirwa mu buryo bwa geometrike bwo guhindura imiterere y'ibintu bishobora kuba — urugero — gusesengura cyangwa imibare. Iyi nyandiko yiga ku buryo butandukanye bwo gusobanura imyitwarire yo guhindagurika kwa roboti yoroshye. Ibizamini by'ibikoresho bya tekiniki bikoreshwa mu gupima icyitegererezo cy'ibikoresho bya hyperelastic kugira ngo bisobanure polyurethane ya thermoplastic ikorwa mu buryo bw'inyongera. > > Isuzuma ry'imibare rishingiye ku buryo bw'ibintu bitagira iherezo rishyirwa mu gipimo kugira ngo risobanure imiterere y'imashini ikora kandi rigereranyijwe n'icyitegererezo cy'isesengura giherutse gusohoka kuri iyo mashini ikora. Isuzuma ry'imibare yombi rigereranywa n'ibyavuye mu igerageza rya mashini ikora roboti yoroshye. Nubwo ihinduka rinini rigerwaho n'icyitegererezo cy'isesengura, isuzuma ry'imibare rigaragaza inguni yo kugonda ifite ihinduka ry'impuzandengo rya 9°, nubwo isuzuma ry'imibare rifata igihe kirekire cyane kugira ngo ribarwe. Mu buryo bwikora, roboti zoroshye zishobora kuzuza ihinduka rya sisitemu zikomeye zo gukora zigana ku nganda zikora neza kandi zigezweho.