CN113829382A - Bionic shell soft mechanical gripper based on SMP (symmetric multi-processing) and manufacturing method thereof - Google Patents
Bionic shell soft mechanical gripper based on SMP (symmetric multi-processing) and manufacturing method thereof Download PDFInfo
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- CN113829382A CN113829382A CN202111210005.3A CN202111210005A CN113829382A CN 113829382 A CN113829382 A CN 113829382A CN 202111210005 A CN202111210005 A CN 202111210005A CN 113829382 A CN113829382 A CN 113829382A
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- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 27
- 238000004519 manufacturing process Methods 0.000 title claims abstract description 14
- 238000007639 printing Methods 0.000 claims abstract description 69
- 210000000078 claw Anatomy 0.000 claims abstract description 19
- 229920000431 shape-memory polymer Polymers 0.000 claims abstract description 17
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 9
- 238000000034 method Methods 0.000 claims description 26
- 239000002861 polymer material Substances 0.000 claims description 15
- 238000010146 3D printing Methods 0.000 claims description 11
- 238000010438 heat treatment Methods 0.000 claims description 11
- 230000004936 stimulating effect Effects 0.000 claims description 4
- 230000006870 function Effects 0.000 abstract description 3
- 230000008021 deposition Effects 0.000 abstract description 2
- 230000008569 process Effects 0.000 description 15
- 239000000463 material Substances 0.000 description 9
- 230000000638 stimulation Effects 0.000 description 7
- 230000000694 effects Effects 0.000 description 5
- 239000004626 polylactic acid Substances 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000033001 locomotion Effects 0.000 description 4
- 229920000747 poly(lactic acid) Polymers 0.000 description 4
- 230000006399 behavior Effects 0.000 description 3
- 210000003205 muscle Anatomy 0.000 description 3
- 238000005452 bending Methods 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 239000002131 composite material Substances 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000005284 excitation Effects 0.000 description 2
- 230000009477 glass transition Effects 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 239000007864 aqueous solution Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003592 biomimetic effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 230000009347 mechanical transmission Effects 0.000 description 1
- 239000002520 smart material Substances 0.000 description 1
- 230000000930 thermomechanical effect Effects 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/12—Gripping heads and other end effectors having finger members with flexible finger members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C64/00—Additive manufacturing, i.e. manufacturing of three-dimensional [3D] objects by additive deposition, additive agglomeration or additive layering, e.g. by 3D printing, stereolithography or selective laser sintering
- B29C64/10—Processes of additive manufacturing
- B29C64/106—Processes of additive manufacturing using only liquids or viscous materials, e.g. depositing a continuous bead of viscous material
- B29C64/118—Processes of additive manufacturing using only liquids or viscous materials, e.g. depositing a continuous bead of viscous material using filamentary material being melted, e.g. fused deposition modelling [FDM]
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B33—ADDITIVE MANUFACTURING TECHNOLOGY
- B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
- B33Y10/00—Processes of additive manufacturing
Abstract
The invention discloses a bionic shell soft mechanical claw and a manufacturing method thereof. Including universal unit and drive unit, the universal unit middle part is provided with drive unit, universal unit be rectangular form, universal unit even the middle part is provided with the crease to set up logical groove in crease department, arrange drive unit in leading to the groove, drive unit connects respectively in two groove limits that the universal unit led to the groove. The invention realizes the function of simulating a shell structure to realize flexible grabbing by utilizing fused deposition modeling 4D printing and through the stimulated deformation of the shape memory polymer in a hot water bath.
Description
Technical Field
The invention provides a mechanical claw and a manufacturing method thereof, and particularly provides an SMP-based bionic shell soft mechanical claw and a manufacturing method thereof.
Background
The traditional grabbing devices mainly use mechanical claws with mechanical transmission structures, sucking discs driven by air power and the like. But in the emerging application field, the manipulator is difficult to design and update, and the nondestructive grabbing of fragile and easily-deformed articles is difficult to realize; the sucker has higher requirement on surface flatness during grabbing, and the application scene is narrower.
In order to make up for the defects of the grabbing device, the soft mechanical claw is produced, and the flexible grabbing characteristic of the grabbing device can effectively grab fragile and easily-deformed objects and objects with uneven and smooth surfaces.
Disclosure of Invention
In order to solve the problems in the background art and overcome the problems and disadvantages of the traditional pneumatic and hydraulic methods, the invention provides a method for manufacturing a 4D printing flexible manipulator by using SMP (symmetrical multi-processing) to realize the deformation of the flexible manipulator. The invention realizes the function of simulating a shell structure to realize flexible grabbing by Fused Deposition Modeling (FDM) 4D printing and by the excited deformation of Shape Memory Polymer (SMP) in a hot water bath.
The invention designs an initial structure and uses SMP to realize the bionic shell soft mechanical claw structure folding technology. The fabrication of complex biomimetic structures requires simultaneous configuration of SMPs, stimulation of smart materials and programming of the printing process.
The technical scheme of the invention is as follows:
a bionic shell soft mechanical claw based on SMP:
the gripper comprises a universal unit and a driving unit, the driving unit is arranged in the middle of the universal unit, the universal unit is in a long strip shape, a crease is arranged in the middle of the universal unit, the middle of the universal unit is provided with a through groove, the driving unit is arranged in the through groove, and the driving unit is respectively connected to two groove edges of the through groove on two sides of the crease in the universal unit.
The invention divides the initial coarse product structure into a driving unit and a universal unit, the driving unit can generate strain under external stimulation to realize deformation movement, and the universal unit is used as support and limit.
The driving unit adopts a double-layer structure, the double-layer structure is divided into an upper part and a lower part, the printing directions of the upper part and the lower part are vertical, and therefore the filling patterns of the upper part and the lower part are respectively horizontal stripes and vertical stripes.
Connect between two groove edges that the general unit led to the groove drive unit includes two shape memory strips and clearance, shape memory strip parallel arrangement and both ends are connected respectively in the general unit and are led to the groove between two groove edges of crease both sides, all have the clearance between two shape memory strips, between shape memory strip and the general unit.
Secondly, a manufacturing method of the bionic shell soft mechanical claw is prepared by adopting the following 4D printing mode:
1) selecting a shape memory polymer material and a non-shape memory polymer material as printed wires, printing general units in a 3D mode according to a product model to be printed, and then printing driving units among the general units, so that a coarse product is obtained after 3D printing is completed;
the printed raw product structure is divided into a general-purpose unit and a driving unit responsible for driving conversion.
2) And taking down the rough product obtained by 3D printing, stimulating the driving unit to enable the driving unit to bend and drive the two general units to be turned over, folded and deformed until the 4D deformation is completely finished, and obtaining a 4D printed product.
In the step 1), the universal unit is printed by adopting a non-shape memory polymer material, and the driving unit is printed by adopting a shape memory polymer material.
And stimulating the driving unit to deform the structure of the driving unit so as to drive the universal unit to deform.
The drive unit is stimulated, in particular, the drive unit is heated in temperature.
The temperature heating is a water bath heating mode.
In 4D printing, the coefficient of thermal expansion of each layer of material is controlled by varying process parameters. The most relevant parameters to linear thermal expansion coefficient are print temperature, print line height, print line width and print fill pattern. The basic switching principle of a two-layer drive unit stems from the anisotropy of stress between the two layers, which is provided by thermal expansion or memory behavior.
The control of the three-dimensional printing parameters in the 4D printing deformation is a composite process; the effect of a single parameter on the deformation is one-sided. Further, the printed pattern controls the direction of strain in the three-dimensional coordinate plane during the second stimulus. The strain in both directions is substantially the same except for the partial mode. In order to achieve maximum strain in the double-layer structure, the upper and lower filling patterns in the double-layer driving unit are horizontal stripes and vertical stripes, respectively. The horizontal and vertical stripes in the drive unit are the same printing parameters and the printing direction is vertical.
The glass transition temperature of the shape memory polymer material is 65 ℃, the room temperature modulus is 3523Mpa, and the glass transition temperature is 183 ℃. The printing temperature was chosen experimentally as 195 deg.C, the printing line height 50 μm, the stimulation temperature 90 deg.C and the printing line width 0.4 mm.
The invention has the beneficial effects that:
in the invention, the 4D printing structure and mode of the bionic shell soft mechanical claw are designed by designing the regional profile and the shape memory property of the SMP material, and the invention realizes that the bionic structure is designed by using the SMP material Polylactic acid (PLA) and simulating the shell, thereby realizing the 4D printing of FDM.
The invention realizes SMP deformation and bionic mechanical claw flexible grabbing under temperature stimulation.
Drawings
FIG. 1 is a schematic diagram of a bionic structure and a driving unit structure, which is a bionic structure with a programmable actuator;
FIG. 2 is a graph of the effect of process parameters on strain; (a) a graph showing the printing temperature-stress relation, (b) a graph showing the printing height-stress relation, and (c) a graph showing the printing width-stress relation;
fig. 3 is a schematic diagram of the deformation process of the bionic shell soft mechanical gripper printed by the invention. (a) Illustrating an initial configuration comprising a universal unit and a drive unit, and (b) illustrating a modified configuration having a universal unit and a drive unit;
in the figure: a general unit 1, a drive unit 2, a shape memory strip 21, a gap 22; and (3) folding marks.
Detailed Description
The invention is further described with reference to the accompanying drawings and the detailed description.
As shown in fig. 1, including general unit 1 and drive unit 2, general unit 1 middle part is provided with drive unit 2, general unit 1 be rectangular form, general unit 1 middle part is provided with a crease 3, general unit 1 middle part is seted up logical groove, it crosses crease 3 and arranges to lead to the groove, and crease 3 also is located the centre that leads to the groove, it arranges drive unit 2 to lead to the inslot, drive unit 2 connects respectively in general unit 1 leads to two trough flanges in crease 3 both sides, general unit can realize along the crease fifty percent discount and press from both sides the motion under drive unit's effect.
The driving unit 2 has a double-layered structure divided into upper and lower portions, and the printing directions of the upper and lower portions are vertical, so that the filling patterns of the upper and lower portions are horizontal and vertical stripes, respectively, and an expected bending strain may occur when stimulated. Horizontal and vertical stripes are the same printing parameters, but the printing direction is vertical, which enables maximum strain in the two-layer structure.
The driving unit 2 connected between the two general-purpose units 1 comprises two shape memory strips 21 and a gap 22, the shape memory strips 21 are arranged in parallel, two ends of each shape memory strip are respectively connected between the two general-purpose units 1, the gaps 22 are respectively arranged between the two shape memory strips 21 and between the shape memory strips and the general-purpose units 1, and the gaps 22 also belong to one part of the driving unit 2.
The printing ink is prepared by adopting the following 4D printing mode:
1) selecting a shape memory polymer material and a non-shape memory polymer material as printed wires, firstly printing general units 1 in a 3D mode according to a product model to be printed, and then printing driving units 2 among the general units 1, so that a rough product is obtained after 3D printing is completed, as shown in fig. 3 (a);
specifically, the general-purpose unit 1 is printed by adopting a non-shape memory polymer material, and the driving unit 2 is printed by adopting a shape memory polymer material. The shape memory polymer material and the non-shape memory polymer material are printed by different print heads respectively.
The printed raw product structure is divided into a general-purpose unit 1 and a driving unit 2 responsible for drive conversion.
2) Taking down the rough product obtained by 3D printing, stimulating the driving unit 2 to enable the driving unit 2 to bend and drive the two general units 1 to be turned over, folded and deformed, similar to the folding of two parts of a shell, until the 4D deformation is completely finished, and obtaining a 4D printed product, as shown in fig. 3 (b).
The bionic shell soft mechanical claw utilizes SMP 4D printing technology to realize that the mechanical claw simulates the flexible grabbing of a shell and a fragile and deformable object.
The driving unit 2 is needed in the 4D printing deformation process, and as shown in a block of fig. 3, the driving unit 2 is stimulated, so that the driving unit 2 is structurally deformed into a shape preset by programming, and the universal unit 1 is driven to participate in deformation.
The drive unit 2 is stimulated, in particular the drive unit 2 is temperature-precisely heated.
The temperature heating is a water bath heating mode, the temperature of the aqueous solution is accurately controlled, and the temperature in the heating process is stabilized at the preset excitation temperature. Thus, a high-precision water bath heating mode is adopted, and heat is uniformly transferred to the initial structure.
The driving unit 2 has a double-layer structure to generate a desired bending strain when being stimulated. Horizontal and vertical stripes are the same printing parameters, but the printing direction is vertical, which enables maximum strain in the two-layer structure.
With this 4D printing method, precise control can be achieved by changing the process conditions while maintaining a large strain.
The bionic structure of the present invention is designed by imitating shell. By using the SMP material PLA, the 4D printing initial structure is divided into a driving unit and a general unit, and FDM 4D printing is realized. Using a 3D printer, the process parameters are programmed to make different heterogeneous cells from the same material. Exposing these units to the same stimulus subjects them to different strains. The cell utilizes the anisotropy of the bilayer structure to produce the desired deformation of the structure in terms of stress induced strain in the x and y axes.
The invention mainly realizes the deformation of the 4D bionic structure through the driver. The shell creatures in nature realize the closing of the two side shells through the adductor muscles, and the opening and closing of the shells are realized by controlling the rotation of the shells around the hinges through the contraction of the adductor muscles. The designed bionic structure is shown in the lower graph of fig. 3. The driving unit 2 (corresponding to the adductor muscle) contracts to drive the universal unit 1 (corresponding to the shell) to rotate around the crease 3 (corresponding to the hinge), so that the function of simulating the opening and closing of the shell is realized. The 4D printing deformation process requires the use of a driving unit, as shown in the black part of the lower drawing of fig. 1, which deforms the structure into the shape preset at the time of printing when stimulated.
The specific implementation adopts PLA as FDM printing material. By changing the PLA printing process, a heterogeneous printing unit effect is created. This allows the 4D printing deformation process to be achieved in a simple primary printing and secondary stimulation while avoiding ambiguity in the bonding mechanism between the cell joints.
In 4D printing of the bionic shell soft mechanical claw, the thermal expansion coefficient of each layer of material is controlled by changing process parameters.
The 4D printing method of the bionic shell soft gripper comprises the following steps:
firstly, analyzing a thermo-mechanical mechanism of a double-layer structure driving unit, and establishing a deformation behavior model of the SMP; the CAD model of the structure is sliced into two-dimensional images for 3D printing. Meanwhile, the SMP material is made into a 3D printing consumable. The permanent deformation of the two-layer structure driving unit is caused by the printing parameters and the time evolution of the three-dimensional printing structure when heated. The fundamental switching principle of a two-layer drive unit results from the anisotropy of the stress between the two layers, which anisotropy is provided by thermal expansion or memory behavior. The linear thermal expansion coefficient per unit temperature change can be expressed as strain. The strain of the different PLA materials obtained by the univariate experiments is shown in fig. 2. As can be seen from FIG. 2(a), the linear thermal expansion coefficient of SMP decreases with increasing printing temperature within a certain viscosity range, which is 195-240 ℃. As shown in FIG. 2(b), in the printing height range of 20-200 μm, the higher the printing line height, the lower the linear thermal expansion coefficient. As can be seen from fig. 2(c), when the printing width is in the range of 0.15 to 0.8mm, the wider the printing line width is, the higher the linear thermal expansion coefficient is.
In the 4D printing deformation process, the control of the 3D printing parameters is a composite process; the effect of a single parameter on the deformation is one-sided. In addition, the printed pattern controls the direction of strain in the three-dimensional coordinate plane upon the second stimulus. The strain in both directions is essentially the same except for the partial mode. In order to achieve maximum strain in a two-layer structure, the upper and lower fill patterns in a two-layer actuator are horizontal and vertical stripes, respectively. The horizontal and vertical stripes in the actuator are the same printing parameters, the printing direction is vertical, the horizontal strain is 3.5, and the longitudinal strain is 1.1. The grid pattern used for the typical cells is similar (0.125 for both lateral and longitudinal strain).
The initial structure of the printing is shown in the left diagram of fig. 3, wherein the light part is a general-purpose unit and the dark part is a driving unit. Under the uniform heating of the hot water bath, the double-layer driving unit generates strain to generate curling to drive the universal unit to realize the closing motion of the manipulator.
The initial coarse structure is produced by pre-editing 4D printing. Firstly, an initial three-dimensional model of a complex structure is designed, and then the deformation shape of the double-layer actuator is preset through printing process programming. The structure of the printing unit is determined, a reasonable printing pattern is selected, and the deformation direction of the stress-strain is determined. And finally, determining the matched printing temperature and the excitation temperature according to the thermodynamic cycle relation, and finishing printing in the 3D printer.
The printing temperature was 195 deg.C, the printing line height was 50 μm, the stimulation temperature was 90 deg.C, and the printing line width was 0.4 mm. In the 80mm by 40mm plane, the usable area is approximately 1060-. The overall shape dimensions of the initial foldable structure are set to 80mm x 40mm x 2 mm. Further, the executor unit and the general-purpose unit are printed using 3D editing software at each print layer. The height ratio of the upper and lower actuators is 1/1, and is arranged in actuator units as 1 to 3 as needed.
For the initial structure of the printing, the stimulation was performed in a water bath heating device at 90 ℃. The product is cooled and removed after complete deformation to reduce errors due to handling.
The initial structure of the printing is shown in the left diagram of fig. 3, wherein the light part is a general-purpose unit and the dark part is a driving unit. Under the uniform heating of the hot water bath, the double-layer driving unit generates strain to generate curling to drive the universal unit to realize the closing motion of the manipulator.
Claims (8)
1. The utility model provides a bionical shell software gripper based on SMP which characterized in that:
including general unit (1) and drive unit (2), general unit (1) middle part is provided with drive unit (2), general unit (1) be rectangular form, general unit (1) middle part is provided with a crease (3), general unit (1) middle part is seted up and is led to the groove, leads to the inslot and arranges drive unit (2), drive unit (2) connect respectively in general unit (1) lead to two groove edges in crease (3) both sides.
2. The bionic shell soft gripper based on the SMP as claimed in claim 1, wherein: the driving unit (2) adopts a double-layer structure, the double-layer structure is divided into an upper part and a lower part, the printing directions of the upper part and the lower part are vertical, and therefore the filling patterns of the upper part and the lower part are horizontal stripes and vertical stripes respectively.
3. The bionic shell soft gripper based on the SMP as claimed in claim 1, wherein: connect between two groove edges that general unit (1) led to groove drive unit (2) include two shape memory strip (21) and clearance (22), shape memory strip (21) parallel arrangement and both ends are connected respectively and are led to the groove between two groove edges of general unit (1) both sides, all have clearance (22) between two shape memory strip (21), shape memory strip and general unit (1).
4. The manufacturing method of the bionic shell soft mechanical claw applied to any one of claims 1 to 3 is characterized in that the manufacturing method is prepared by adopting the following 4D printing mode:
1) selecting a shape memory polymer material and a non-shape memory polymer material as printing wires, printing general units (1) in a 3D mode according to a product model to be printed, and then printing driving units (2) among the general units (1), so that a coarse product is obtained after 3D printing is completed;
2) and taking down the rough product obtained by 3D printing, stimulating the driving unit (2) to enable the driving unit (2) to bend and drive the two general units (1) to be turned over, folded and deformed until the 4D deformation is completely finished, and obtaining a 4D printed product.
5. The method for manufacturing the bionic shell soft mechanical claw according to claim 4, wherein the method comprises the following steps: in the step 1), the general unit (1) is printed by adopting a non-shape memory polymer material, and the driving unit (2) is printed by adopting a shape memory polymer material.
6. The method for manufacturing the bionic shell soft mechanical claw according to claim 4, wherein the method comprises the following steps: the driving unit (2) is stimulated, so that the structure of the driving unit (2) is deformed, and the universal unit (1) is driven to deform.
7. The method for manufacturing the bionic shell soft mechanical claw according to claim 4, wherein the method comprises the following steps: the drive unit (2) is stimulated, and particularly the drive unit (2) is heated in temperature.
8. The method for manufacturing the bionic shell soft mechanical claw according to claim 7, wherein the bionic shell soft mechanical claw is characterized in that: the temperature heating is a water bath heating mode.
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| CN202111210005.3A CN113829382A (en) | 2021-10-18 | 2021-10-18 | Bionic shell soft mechanical gripper based on SMP (symmetric multi-processing) and manufacturing method thereof |
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| CN202111210005.3A CN113829382A (en) | 2021-10-18 | 2021-10-18 | Bionic shell soft mechanical gripper based on SMP (symmetric multi-processing) and manufacturing method thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114714615A (en) * | 2022-03-23 | 2022-07-08 | 浙江大学 | Method for preparing pneumatically deformable multilayer thin film material based on 3D printing technology |
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