三维打印自锁原木:设计,制造和模拟,以提高旋转关节的性能
Samira Zare1, Alex Spaeth1, Sandya Suresh2
1Department of Electrical and Computer Engineering, University of California Santa Cruz, Santa Cruz, CA 95064, USA.
Micromachines
|August 26, 2023
概括
这项研究引入了使用面料层打印的新3D打印原木关节,增强了机器人系统,提高了平面折叠性和近360度旋转. 这些符合要求的模块化关节为先进的机器人应用提供了有前途的解决方案.
科学领域:
- 机器人与机械工程 机器人与机械工程
- 材料科学 材料科学 材料科学
背景情况:
- 原始结构为机器人节省空间和简化制造提供了机器人.
- 现有的原木旋转关节具有有限的运动和部分平面折叠性.
- 以前提出的自锁关节并不是完全平叠的.
研究的目的:
- 介绍一种用于3D打印模块化原木接头的新方法.
- 为了提高原木旋转关节的平面折叠性和运动范围.
- 为了证明这些改进的关节在机器人操纵器中的实际应用.
主要方法:
- 3D打印模块化原木接头组件,包括自锁接头.
- 整合一层织物来连接3D打印板,引入合规性.
- 在负载和不负载条件下评估联合物理性能.
- 使用新型关节构建和演示机器人操纵器.
主要成果:
- 织物层提高了半平叠性,在某些情况下可以实现完全平叠性.
- 增强的旋转运动,实现接近360度的运动.
- 通过装载和卸载状态评估,确定了物理属性的设计权衡.
- 成功证明了使用合规关节的机器人操纵器的概念证明演示.
结论:
- 这种新的3D打印制造方法显著提高了原始手工的关节性能.
- 改进的平面折叠性和近360度旋转使这些关节适合各种机器人应用.
- 这些关节的模块化和兼容性是机器人设计的一个有希望的进步.
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