CN113829382B - SMP-based bionic shell soft mechanical claw and manufacturing method thereof - Google Patents
SMP-based bionic shell soft mechanical claw and manufacturing method thereof Download PDFInfo
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- CN113829382B CN113829382B CN202111210005.3A CN202111210005A CN113829382B CN 113829382 B CN113829382 B CN 113829382B CN 202111210005 A CN202111210005 A CN 202111210005A CN 113829382 B CN113829382 B CN 113829382B
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- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 21
- 238000004519 manufacturing process Methods 0.000 title claims abstract description 11
- 210000000078 claw Anatomy 0.000 title abstract description 13
- 238000007639 printing Methods 0.000 claims abstract description 60
- 229920000431 shape-memory polymer Polymers 0.000 claims abstract description 18
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 10
- 238000000034 method Methods 0.000 claims description 18
- 239000002861 polymer material Substances 0.000 claims description 15
- 239000000047 product Substances 0.000 claims description 14
- 238000010146 3D printing Methods 0.000 claims description 13
- 238000010438 heat treatment Methods 0.000 claims description 12
- 230000004936 stimulating effect Effects 0.000 claims description 3
- 239000012043 crude product Substances 0.000 claims description 2
- 230000005284 excitation Effects 0.000 abstract description 4
- 230000008021 deposition Effects 0.000 abstract description 3
- 230000006870 function Effects 0.000 abstract description 3
- 230000008569 process Effects 0.000 description 14
- 239000000463 material Substances 0.000 description 9
- 229920000747 poly(lactic acid) Polymers 0.000 description 7
- 239000004626 polylactic acid Substances 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 230000000638 stimulation Effects 0.000 description 6
- 230000000694 effects Effects 0.000 description 4
- 230000006399 behavior Effects 0.000 description 3
- 230000007547 defect Effects 0.000 description 3
- 238000005516 engineering process Methods 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
- 230000008602 contraction Effects 0.000 description 2
- 238000002474 experimental method Methods 0.000 description 2
- 230000009477 glass transition Effects 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000003592 biomimetic effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 230000007423 decrease Effects 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
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
-
- 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
-
- 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]
-
- 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
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Materials Engineering (AREA)
- Mechanical Engineering (AREA)
- Manufacturing & Machinery (AREA)
- Robotics (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Prostheses (AREA)
Abstract
The invention discloses a bionic shell soft mechanical claw and a manufacturing method thereof. The universal unit is long in strip shape, folds are formed in the middle of the universal unit, through grooves are formed in the folds, the driving units are arranged in the through grooves, and the driving units are respectively connected to two groove edges of the through grooves of the universal unit. According to the invention, fused deposition modeling 4D printing is utilized, and the function of simulating a shell structure to realize flexible grabbing is realized through the excitation 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, in particular to a bionic shell soft mechanical claw based on SMP and a manufacturing method thereof.
Background
The traditional grabbing devices mainly comprise a mechanical claw using a mechanical transmission structure, a sucker using pneumatic driving and the like. However, in the emerging application field, the manipulator has quite a plurality of defects, the manipulator is difficult to design, the updating speed is high, and nondestructive grabbing of fragile and easily-deformed objects is difficult to realize; the sucker grabbing has higher requirements on surface flatness, and the application scene is narrower.
In order to overcome the defects of the grabbing device, soft mechanical claws are generated, and the soft mechanical claws can effectively grab fragile objects and objects with uneven and smooth surfaces due to the flexible grabbing characteristic.
Disclosure of Invention
In order to solve the problems in the background technology and overcome the problems and defects of the traditional pneumatic and hydraulic drive, the invention provides a manufacturing method of a 4D printing flexible manipulator by utilizing SMP, and the deformation of the flexible manipulator is realized. The invention utilizes fused deposition modeling (Fused Deposition Modelling, FDM) 4D printing, and realizes the function of simulating a shell structure to realize flexible grabbing through the excitation deformation of the shape memory polymer (Shape Memory Polymer, SMP) in a hot water bath.
The invention designs an initial structure and adopts SMP to realize the folding technology of the bionic shell soft mechanical claw structure. The fabrication of complex biomimetic structures requires simultaneous configuration of SMP, stimulation of smart materials, and programming of the printing process.
The technical scheme of the invention is as follows:
1. SMP-based bionic shell soft gripper:
The mechanical claw comprises a universal unit and a driving unit, wherein the driving unit is arranged in the middle of the universal unit, the universal unit is strip-shaped, a crease is formed in the middle of the universal unit, a through groove is formed in the middle of the universal unit, the driving unit is arranged in the through groove, and the driving unit is respectively connected to two groove edges of the through groove of the universal unit on two sides of the crease.
The invention divides the initial coarse product structure into a driving unit and a general unit, wherein the driving unit can generate strain to realize deformation movement under external stimulus, and the general unit is used as support and restriction.
The driving unit adopts a double-layer structure, the double-layer structure is divided into an upper part and a lower part, and the printing directions of the upper part and the lower part are vertical, so that the filling patterns of the upper part and the lower part are respectively horizontal stripes and vertical stripes.
The driving unit connected between two groove edges of the general unit through groove comprises two shape memory strips and a gap, wherein the shape memory strips are arranged in parallel, two ends of each shape memory strip are respectively connected between the two groove edges of the general unit through groove at two sides of the crease, and the gaps are reserved between the two shape memory strips and between the shape memory strips and the general unit.
2. The manufacturing method of the bionic shell soft mechanical claw is characterized by comprising the following 4D printing mode:
1) Selecting a shape memory polymer material and a non-shape memory polymer material as printed wires, 3D printing universal units according to a product model to be printed, and then printing driving units among the universal units, so that a coarse product is obtained after 3D printing is completed;
The printed coarse product structure is divided into a general unit and a driving unit responsible for driving conversion.
2) And taking down the coarse product obtained by 3D printing, and stimulating the driving unit to bend the driving unit to drive the two universal units to be overturned, folded and deformed until the 4D deformation is completely completed, so as to obtain the 4D printing product.
In the 1), the universal unit is printed out by adopting a non-shape memory polymer material, and the driving unit is printed out by adopting a shape memory polymer material.
The driving unit is stimulated, so that the structure of the driving unit is deformed, and the universal unit is driven to be deformed.
The stimulation is performed on the driving unit, in particular the temperature heating is performed on the driving unit.
The temperature heating is a mode of heating by using a water bath.
In 4D printing, the coefficient of thermal expansion of each layer of material is controlled by varying process parameters. The parameters most relevant to the coefficient of linear thermal expansion are printing temperature, printing line height, printing line width, and printing fill pattern. The basic switching principle of a two-layer drive unit results from the anisotropy of the stress between the two layers, which is provided by thermal expansion or memory behavior.
Control of three-dimensional printing parameters in 4D printing variants is a complex process; the effect of a single parameter on 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 bilayer structure, the upper and lower fill patterns in the bilayer drive unit are horizontal 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 experiment selects a printing temperature of 195 ℃, a printing line height of 50 μm, a stimulation temperature of 90 ℃ and a printing line width of 0.4mm.
The beneficial effects of the invention are as follows:
In the invention, the 4D printing structure and mode of the bionic shell soft gripper are designed by designing the regional outline and shape memory characteristics of the SMP material, and the invention realizes the 4D printing of FDM by utilizing the SMP material polylactic acid (Polylactic acid, PLA) to simulate the shell design bionic structure.
The invention realizes SMP deformation and flexible grabbing of the bionic mechanical claw under temperature stimulation.
Drawings
FIG. 1 is a schematic diagram of a bionic structure and a driving unit, which is a bionic structure with a programmable actuator;
FIG. 2 is a graph of the effect of process parameters on strain; (a) represents a printing temperature-stress relationship map, (b) represents a printing height-stress relationship map, and (c) represents a printing width-stress relationship map;
Fig. 3 is a schematic diagram of the deformation process of the printed bionic shell soft gripper. (a) Fig. is an initial structure including a general unit and a driving unit, (b) fig. is a deformed structure having the general unit and the driving unit;
in the figure: a general unit 1, a driving unit 2, a shape memory bar 21, a gap 22; crease 3.
Detailed Description
The invention is further described below with reference to the drawings and the detailed description.
As shown in fig. 1, the universal unit comprises a universal unit 1 and a driving unit 2, wherein the driving unit 2 is arranged in the middle of the universal unit 1, the universal unit 1 is in a strip shape, a crease 3 is arranged in the middle of the universal unit 1, a through groove is formed in the middle of the universal unit 1, the through groove is arranged across the crease 3, the crease 3 is also positioned in the middle of the through groove, the driving unit 2 is arranged in the through groove, the driving unit 2 is respectively connected with two groove edges of the through groove of the universal unit 1 at two sides of the crease 3, and the universal unit can be folded in half along the crease under the action of the driving unit to realize clamping movement.
The driving unit 2 adopts a double-layered structure divided into upper and lower portions, the printing directions of which are vertical, so that the filling patterns of the upper and lower portions are horizontal stripes and vertical stripes, respectively, and an expected bending strain can occur when stimulated. The horizontal and vertical stripes are the same printing parameters, but the printing direction is vertical, which enables maximum strain in the bilayer structure.
The driving unit 2 connected between the two general units 1 comprises two shape memory strips 21 and a gap 22, the shape memory strips 21 are arranged in parallel and two ends of each shape memory strip are respectively connected between the two general units 1, the gap 22 is arranged between the two shape memory strips 21 and between the shape memory strips and the general units 1, and the gap 22 also belongs to a part of the driving unit 2.
The invention 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, 3D printing a universal unit 1 according to a product model to be printed, and then printing a driving unit 2 between the universal units 1, thereby obtaining a crude product after 3D printing is completed, as shown in fig. 3 (a);
The universal unit 1 is printed out of a non-shape memory polymer material, and the drive unit 2 is printed out of a shape memory polymer material. The shape memory polymer material and the non-shape memory polymer material are printed using different printheads, respectively.
The printed coarse product structure is divided into a generic unit 1 and a drive unit 2 responsible for the drive conversion.
2) Taking down the coarse product obtained by 3D printing, and stimulating the driving unit 2 to bend the driving unit 2 to drive the two universal units 1 to be overturned, folded and deformed, similar to the folding of two parts of shells, until the 4D deformation is completely completed, so as to obtain a 4D printed product, as shown in fig. 3 (b).
The bionic shell soft gripper provided by the invention utilizes the 4D printing technology of SMP to realize that the gripper simulates the flexible gripping of fragile and deformable objects of shells.
The 4D printing deformation process needs to use the driving unit 2, as shown in the block of fig. 3, to stimulate the driving unit 2, so that the structure of the driving unit 2 is deformed into its programmed preset shape, and further the general unit 1 is driven to participate in the deformation.
The drive unit 2 is stimulated, in particular the drive unit 2 is heated at a precise temperature.
The temperature heating is a mode of heating by using a water bath, and the temperature of the water solution is precisely controlled, so that the temperature in the heating process is stabilized at a preset excitation temperature. In this way, a high-precision water bath heating mode is adopted to uniformly transfer heat to the initial structure.
The driving unit 2 adopts a double-layer structure, and can generate expected bending strain when stimulated. The horizontal and vertical stripes are the same printing parameters, but the printing direction is vertical, which enables maximum strain in the bilayer structure.
With this 4D printing method, precise control is possible by changing the process conditions while maintaining a large strain.
The bionic structure of the invention is designed by simulating shells. And the initial structure of 4D printing is divided into a driving unit and a general unit by utilizing SMP material PLA, so that 4D printing of FDM 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 will subject them to different strains. The cell takes advantage of the anisotropy of the bilayer structure to produce the desired deformation of the structure in the x-axis and y-axis induced strain in the axis.
The invention mainly realizes the deformation of the 4D bionic structure through the driver. The shell organisms in the nature realize the closure of the shells at the two sides through the shell closing muscle, and the opening and closing of the shells are realized by controlling the shells to rotate around the hinge through the contraction of the shell closing muscle. The designed bionic structure is shown in the lower diagram of fig. 3. The universal unit 1 (corresponding to the shell) is driven to rotate around the crease 3 (corresponding to the hinge) through the contraction of the driving unit 2 (corresponding to the shell closing muscle), 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 diagram of fig. 1, which deforms the structure into a shape preset at the time of printing when stimulated.
The specific implementation adopts PLA as FDM printing material. By varying the PLA printing process, heterogeneous print unit effects are created. This allows the 4D print morphing process to be implemented in a simple primary print and secondary stimulus while avoiding ambiguities in the bonding mechanism between cell joints.
In 4D printing of a simulated shell soft gripper, the thermal expansion coefficient of each layer of material is controlled by changing the technological parameters.
The 4D printing method of the bionic shell soft mechanical claw comprises the following steps:
Firstly, analyzing a thermo-mechanical mechanism of a driving unit with a double-layer structure, and establishing a deformation behavior model of the SMP; the CAD model of the structure is cut into two-dimensional images for 3D printing. At the same time, SMP materials are fabricated as 3D printing consumables. Permanent deformation of the bilayer structure drive unit is caused by the printing parameters and the time evolution of the three-dimensional printed structure upon heating. The basic switching principle of a double layer drive unit results from the anisotropy of the stress between the two layers, which is provided by thermal expansion or memory behavior. The coefficient of linear thermal expansion per unit temperature change can be expressed in terms of strain. The different PLA materials strain obtained from the univariate experiments are shown in figure 2. As can be seen from fig. 2 (a), the linear thermal expansion coefficient of SMP decreases with increasing printing temperature over a range of viscosities from 195 to 240 ℃. As shown in FIG. 2 (b), the higher the print line height, the lower the coefficient of linear thermal expansion, over the print height range of 20-200 μm. As can be seen from fig. 2 (c), the wider the print line width, the higher the linear thermal expansion coefficient when the print width is in the range of 0.15 to 0.8 mm.
In the 4D printing deformation process, the control of the 3D printing parameters is a compound process; the effect of a single parameter on 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 obtain the greatest strain in the bilayer structure, the upper and lower fill patterns in the bilayer actuator are horizontal and vertical stripes, respectively. The horizontal and vertical stripes in the actuator are the same printing parameters, the printing direction is the vertical direction, the horizontal direction strain is 3.5, and the longitudinal strain is 1.1. The grid pattern used for the general cells was similar (transverse and longitudinal strains were 0.125).
The original structure is printed out as shown in the left diagram of fig. 3, wherein the light parts are universal units and the dark parts are driving units. Under the uniform heating of the hot water bath, the double-layer driving unit generates strain to curl so as to drive the universal unit to realize the closing movement 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 programming of a printing process. The structure of the printing unit is determined, a reasonable printing pattern is selected, and the deformation direction of stress-strain is determined. And finally, determining the matched printing temperature and excitation temperature according to the thermodynamic cycle relation, and finishing printing in a 3D printer.
The printing temperature was 195 ℃, the printing line height was 50 μm, the stimulation temperature was 90 ℃, and the printing line width was 0.4mm. In the 80mm by 40mm plane, the usable area is about 1060-2120mm2. The overall shape dimensions of the initially collapsible structure were set to 80mm x 40mm x 2mm. Furthermore, the executor unit and the general-purpose unit print using 3D editing software at each print layer. The height ratio of the upper and lower actuators is 1/1, and is arranged in the actuator unit as required to be 1 to 3.
For the initial structure printed, stimulation was performed in a 90 ℃ water bath heating device. The product cools and is removed after complete deformation to reduce errors caused by handling.
The original structure is printed out as shown in the left diagram of fig. 3, wherein the light parts are universal units and the dark parts are driving units. Under the uniform heating of the hot water bath, the double-layer driving unit generates strain to curl so as to drive the universal unit to realize the closing movement of the manipulator.
Claims (3)
1. A bionic shell soft gripper based on SMP is characterized in that:
The novel multifunctional folding device comprises a universal unit (1) and a driving unit (2), wherein the driving unit (2) is arranged in the middle of the universal unit (1), the universal unit (1) is in a strip shape, a crease (3) is arranged in the middle of the universal unit (1), a through groove is formed in the middle of the universal unit (1), the driving unit (2) is arranged in the through groove, and the driving unit (2) is respectively connected to two groove edges of the through groove of the universal unit (1) on two sides of the crease (3);
the driving unit (2) adopts a double-layer structure, the double-layer structure is divided into an upper part and a lower part, and the printing directions of the upper part and the lower part are vertical, so that the filling patterns of the upper part and the lower part are respectively horizontal stripes and vertical stripes;
The driving unit (2) connected between two groove edges of the through groove of the universal unit (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 groove edges of the through groove of the universal unit (1) on two sides of the crease (3), and the gap (22) is formed between the two shape memory strips (21) and between the shape memory strips and the universal unit (1);
The driving unit (2) is stimulated in a water bath heating mode, so that the structure of the driving unit (2) is deformed, and the universal unit (1) is driven to be deformed.
2. The manufacturing method for the bionic shell soft gripper according to claim 1 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 printed wires, 3D printing a universal unit (1) according to a product model to be printed, and then printing a driving unit (2) between the universal units (1), thereby obtaining a crude product after 3D printing;
2) Taking down the coarse product obtained by 3D printing, and stimulating the driving unit (2) to bend the driving unit (2) to drive the two universal units (1) to be overturned, folded and deformed until the 4D deformation is completed completely, so as to obtain the 4D printing product.
3. The method for manufacturing the bionic shell soft gripper according to claim 2, wherein the method comprises the following steps: in the step 1), the universal unit (1) is printed out by adopting a non-shape memory polymer material, and the driving unit (2) is printed out by adopting a shape memory polymer material.
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| CN202111210005.3A CN113829382B (en) | 2021-10-18 | 2021-10-18 | SMP-based bionic shell soft mechanical claw and manufacturing method thereof |
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| WO2020143269A1 (en) * | 2019-01-07 | 2020-07-16 | 浙江大学 | 4d printing method for double-layer structure based on temperature response |
| CN110549804A (en) * | 2019-09-17 | 2019-12-10 | 北京大学 | Amphibious propulsion device based on 4D printing technology and manufacturing method |
| CN112207850A (en) * | 2020-09-30 | 2021-01-12 | 华中科技大学 | Shape memory alloy bionic device capable of bending at fixed point and preparation method thereof |
| CN113103218A (en) * | 2021-03-25 | 2021-07-13 | 南京理工大学 | Utilize electromagnetic field driven foldable robot |
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