Gukoresha ibikoresho bya TPU muri robot ya Humanoid

TPU (Polyurethane ya Thermoplastique)ifite ibintu byingenzi nko guhinduka, guhindagurika, no kwambara birwanya, bigatuma ikoreshwa cyane mubice byingenzi bigize robot ya humanoid nkibifuniko byo hanze, amaboko ya robo, hamwe na sensor ya tactile. Hano hepfo harambuye ibikoresho byicyongereza byatoranijwe bivuye mu mpapuro zemewe na raporo za tekiniki: 1. ** Gutegura no Gutezimbere Ukuboko kwa Robo ya Anthropomorphique UkoreshejeIbikoresho bya TPU**> ** Ibisobanuro ** paper Impapuro zatanzwe hano zegera uburyo bwo gukemura ibibazo byamaboko ya robo ya antropomorphique. Imashini za robo nizo zitera imbere cyane kandi burigihe habaye umugambi wo kwigana abantu - nkibikorwa nimyitwarire. Ukuboko kwa antropomorphique nimwe muburyo bwo kwigana abantu - nkibikorwa. Muri iyi nyandiko, hasuzumwe igitekerezo cyo guteza imbere ikiganza cya antropomorphique gifite dogere 15 zubwisanzure hamwe n’ibikorwa 5 byifashishwa mu buryo bwa tekinike, uburyo bwo kugenzura imashini, uburyo bwo kugenzura, ibihimbano, ndetse n’umwihariko w’ukuboko kwa robo. Ikiganza gifite isura ya antropomorphique kandi irashobora gukora abantu - nkibikorwa, urugero, gufata no kwerekana ibimenyetso byintoki. Ibisubizo byerekana ko ikiganza cyakozwe nkigice kimwe kandi ntigikeneye ubwoko ubwo aribwo bwose kandi kigaragaza ubushobozi buhebuje bwo guterura ibiro, kubera ko bikozwe na polyurethane yoroheje.(TPU) ibikoresho, kandi elastique yayo nayo iremeza ko ikiganza gifite umutekano mugusabana nabantu. Uku kuboko gushobora gukoreshwa muri robot yumuntu kimwe nikiganza cya prostate. Umubare ntarengwa wimikorere ituma igenzura ryoroha kandi ukuboko kworoshye. 2. Aka kazi kerekana uburyo bwo gukora ingufu - yigenga yoroshye ya robot gripper yigenga, igizwe na 3D yahinduwe yacapishijwe ifata ibyuma bikozwe muri termoplastique polyurethane (TPU) hamwe na actuator ishingiye kuri hydrogel ya gelatine, ituma habaho gahunda ya hygroscopique idakoresheje ibikoresho byubaka bigoye. >> Gukoresha gelatine ya 20% - ishingiye kuri hydrogel itanga imikorere yoroshye ya robotike ya biomimetike yimiterere kandi ishinzwe gukangura ubwenge - imikorere yubukanishi bwibikoresho byacapwe mugusubiza kubyimba mubidukikije. Ubuso bugenewe gukora bwa polimurethane ya termoplastique muri argon - ibidukikije bya ogisijeni kuri 90 s, ku mbaraga za w 100 hamwe n’umuvuduko wa 26.7 pa, byorohereza impinduka muri microrelief yayo, bityo bikazamura neza no gukomera kwa gelatine yabyimbye hejuru yacyo. >> Igitekerezo cyagaragaye cyo gukora ibinyabuzima 4D byanditseho ibinyabuzima bigizwe na macroscopique yo mu mazi yoroheje ya robo ya robo irashobora gutanga ibintu bidahwitse byaho, gutwara ibintu bito, no kurekura ibintu bioaktike bimaze kubyimba mumazi. Ibicuruzwa bivamo rero birashobora gukoreshwa nkumuntu ukoresha imbaraga za biomimetike, sisitemu ya encapsulation, cyangwa robotics yoroshye. 3 .. Inzego zifasha muri meta - ibikoresho nuburyo butanga ikizere cyo gukora ibintu byoroshye. Izi nyubako zifite imiterere yihariye yubukanishi. Icapiro rya 3D, cyane cyane ibihimbano bya filament (FFF), bikoreshwa cyane mugukora izo nzego. Thermoplastique polyurethane (TPU) ikoreshwa muri FFF kubera ubworoherane bwayo. Ubu bushakashatsi bugamije guteza imbere igifuniko cyoroshye cyo hanze cya robot ya humanoid Alice III ukoresheje icapiro rya FFF 3D hamwe na Shore 95A TPU. >> Ubushakashatsi bwakoresheje filime yera ya TPU yera hamwe na printer ya 3D kugirango ikore amaboko ya robot ya 3DP humanoid. Ukuboko kwa robo kugabanyijemo ibice byamaboko no hejuru. Ibishushanyo bitandukanye (bikomeye na re - abinjira) hamwe nubunini (1, 2, na 4 mm) byakoreshejwe kuburugero. Nyuma yo gucapa, kunama, guhindagurika, no kwikuramo ibizamini byakorewe isesengura ryimiterere. Ibisubizo byemeje ko ibyinjira byinjira byoroha kugana umurongo uhetamye kandi bisaba guhangayika gake. Mu bizamini byo guhonyora, re-abinjira bashoboye kwihanganira umutwaro ugereranije nuburyo bukomeye. >> Nyuma yo gusesengura uburebure bwose uko ari butatu, hemejwe ko imiterere yongeye kwinjiramo ifite uburebure bwa mm 2 yari ifite ibintu byiza cyane mubijyanye no kunama, guhindagurika, no kwikuramo. Kubwibyo, re - abinjira bafite uburebure bwa mm 2 birakwiriye cyane gukora 3D - icapishijwe imashini ya robot ya humanoid. 4. >> Tactile robotic sensor isanzwe ikubiyemo ibintu bigoye cyane bya elegitoroniki kandi bihenze cyane, ariko twerekanye ko ubundi buryo bukora, burambye bushobora gukorwa bihendutse cyane. Byongeye kandi, kubera ko ari ikibazo cyo kongera gukora progaramu ya printer ya 3D, tekinike imwe irashobora guhindurwa byoroshye kuri sisitemu zitandukanye za robo. Ibyuma bya robo birashobora kuba birimo imbaraga nini na torque, bityo rero bigomba gukorwa neza niba bigiye guhura nabantu cyangwa bigakoreshwa mubidukikije. Biteganijwe ko uruhu rworoshye ruzagira uruhare runini muriki kibazo kuko rushobora gukoreshwa muburyo bwo kubahiriza umutekano muke ndetse no kumva neza. >> Sensor yikipe ikozwe hifashishijwe padi yacapishijwe muri termoplastique urethane (TPU) kuri off - the - shelf Raise3D E2 printer ya 3D. Igice cyoroshye cyo hanze gitwikiriye igice cyuzuye, kandi nkuko igice cyo hanze kigabanije umuvuduko wumwuka wimbere imbere uhindura - bikemerera Honeywell ABP DANT 005 sensor yumuvuduko uhuza microcontroller ya Teensy 4.0 kugirango ibone guhindagurika, gukorakora, no kongera umuvuduko. Tekereza ushaka gukoresha robot yoroshye - ifite uruhu kugirango ifashe mubitaro. Bakenera guhora bafite isuku, cyangwa uruhu rugomba gusimburwa buri gihe. Ibyo ari byo byose, hari ikiguzi kinini. Nyamara, icapiro rya 3D ninzira nini cyane, kuburyo ibice bisimburana bishobora gukorwa bidahenze kandi byoroshye gufatwa no kumubiri wa robo. 5 .. Ugereranije nibindi bikoresho bya AM byoroshye, TPU igaragaza imiterere yubukorikori isumba imbaraga nimbaraga. Mugihe cyo gutoranya laser, guhinduranya pneumatike (pneu - inshundura) byacapwe 3D nkubushakashatsi bworoshye bwa robo kandi bigasuzumwa mubijyanye no gutandukana nigitutu cyimbere. Kumeneka kubera ubukana bwikirere bigaragara nkigikorwa cyumubyimba muto wurukuta rwimikorere. >> Kugirango dusobanure imyitwarire ya robo yoroheje, ibisobanuro byibikoresho bya hyperelastique bigomba kwinjizwa muburyo bwa geometrike yo guhindura ibintu bishobora kuba - urugero - gusesengura cyangwa kubara. Uru rupapuro rwiga uburyo butandukanye bwo gusobanura imyitwarire igoramye ikora ya robo yoroheje. Ibizamini bya mashini bikoreshwa muburyo bwo kugereranya ibintu bya hyperelastique kugirango bisobanurwe byongeweho byakozwe na poliurethane ya termoplastique. >> Igereranya ryumubare rishingiye kuburyo bwa finite yuburyo bugereranijwe kugirango dusobanure imikorere yimikorere kandi ugereranije nicyitegererezo cyisesengura giherutse gusohoka kubikorwa nkibi. Byombi byerekana ubuhanuzi bugereranwa nibisubizo byubushakashatsi bwibikoresho byoroshye bya robo. Mugihe gutandukana kwinshi kugerwaho nurugero rwisesengura, kwigana mubare byerekana inguni igoramye hamwe nimpuzandengo ya 9 °, nubwo ibigereranyo bitwara igihe kirekire kubara. Mubikorwa byikora byikora, robotics yoroshye irashobora kuzuza ihinduka ryimikorere itajenjetse igana mubikorwa byihuse kandi byubwenge.