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Mechanical Characterization and Computational Analysis of TPU 60A: Integrating Experimental Testing and Simulation

Luan Lang1,2, Rodrigo Antunes1,2, Thiago Assis Dutra1,2

  • 1Department of Electromechanical Engineering, University of Beira Interior, Rua Marquês de D'Ávila e Bolama, 6201-001 Covilhã, Portugal.

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Summary

This study optimized thermoplastic polyurethane (TPU) 60A for soft robotics. The quasi-isotropic printing orientation offers the most balanced mechanical properties for additive manufacturing and reliable simulations.

Keywords:
ISO 37ISO 527TPU 60Aadditive manufacturingmaterial characterizationmechanical propertiesprinting orientationssimulation validationtensile tests

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Area of Science:

  • Materials Science
  • Robotics Engineering
  • Additive Manufacturing

Background:

  • Thermoplastic polyurethane (TPU) 60A is a flexible material suitable for soft robotic grippers.
  • Additive manufacturing enables the production of complex soft robotic components.
  • Understanding material properties under various conditions is crucial for design.

Purpose of the Study:

  • Investigate the mechanical properties of TPU 60A.
  • Determine the optimal printing orientation for additive manufacturing.
  • Validate computational models for predicting material behavior.

Main Methods:

  • Tensile tests were performed on TPU 60A specimens printed in different orientations (0°, 45°, -45°, 90°, quasi-isotropic) and at various speeds (2, 20, 200 mm/min).
  • Computational simulations using the finite element method were conducted.
  • Experimental tensile test results were compared with computational predictions to validate the models.

Main Results:

  • The quasi-isotropic printing orientation yielded the most balanced mechanical behavior, outperforming other orientations for robust performance.
  • Computational models accurately predicted material behavior, with relative errors below 5% for force and displacement.
  • Strain rate analysis provided insights for optimizing production processes and enhancing mechanical strength.

Conclusions:

  • The quasi-isotropic orientation is optimal for TPU 60A in additive manufacturing of soft robotics, ensuring predictable performance for simulations.
  • The validated constitutive model accurately represents TPU 60A's mechanical behavior, enabling reliable finite element analysis.
  • Tailored printing parameters and further research (e.g., biaxial testing, G-code optimization) are recommended for improved mechanical uniformity and advanced soft robotic designs.