I-TPU (i-Thermoplastic Polyurethane)inezakhiwo ezivelele ezifana nokuguquguquka, ukunwebeka, kanye nokumelana nokuguguleka, okwenza isetshenziswe kabanzi ezingxenyeni ezibalulekile zamarobhothi angabantu njengezimbozo zangaphandle, izandla zamarobhothi, kanye nezinzwa zokuthinta. Ngezansi kunezincwadi zesiNgisi ezinemininingwane ezihlelwe emaphepheni ezemfundo agunyaziwe kanye nemibiko yobuchwepheshe: 1. **Ukuklama Nokuthuthukiswa Kwesandla Samarobhothi Esisetshenziswa AbantuIzinto ze-TPU** > **Isifinyezo**：Iphepha elivezwe lapha izindlela zokuxazulula ubunzima besandla serobhothi esifana nabantu. Amarobhothi manje aseyinkambu ethuthuka kakhulu futhi bekulokhu kunenhloso yokulingisa ukusebenza nokuziphatha komuntu. Isandla esifana nabantu singenye yezindlela zokulingisa ukusebenza komuntu. Kuleli phepha, umqondo wokuthuthukisa isandla esifana nabantu esinamazinga ayi-15 enkululeko kanye nama-actuator amahlanu ucacisiwe kanye nomklamo womshini, uhlelo lokulawula, ukwakheka, kanye nezici ezikhethekile zesandla serobhothi kuye kwaxoxwa ngazo. Isandla sinokubukeka okufana nabantu futhi singenza imisebenzi efana nabantu, isibonelo, ukubamba kanye nokumelela ukushukuma kwesandla. Imiphumela yembula ukuthi isandla sakhiwe njengengxenye eyodwa futhi asidingi noma yiluphi uhlobo lokuhlanganiswa futhi sibonisa amandla amahle okuphakamisa izinsimbi, njengoba senziwe nge-polyurethane ye-thermoplastic eguquguqukayo.Izinto (TPU), kanye nokuqina kwayo kuqinisekisa nokuthi isandla siphephile ekusebenzisaneni nabantu. Lesi sandla singasetshenziswa kurobhothi elinomuntu kanye nesandla sokufakelwa. Inani elilinganiselwe lama-actuator lenza ukulawula kube lula futhi isandla sibe lula. 2. **Ukuguqulwa Kobuso Be-Polyurethane Ye-Thermoplastic Yokudala I-Gripper Ethambile Yerobhothi Kusetshenziswa Indlela Yokuphrinta Enezilinganiso Ezine** > Enye yezindlela zokuthuthukiswa kokukhiqiza okungeziwe kwe-gradient okusebenzayo ukudalwa kwezakhiwo eziphrintiwe ezinezilinganiso ezine (4D) zokubamba okuthambile kwerobhothi, okufezwa ngokuhlanganisa ukuphrinta kwe-3D okuhlanganisiwe okunemodeli ehlanganisiwe nama-actuator e-hydrogel athambile. Lo msebenzi uphakamisa indlela yomqondo yokudala i-gripper ethambile yerobhothi eguquguqukayo, equkethe i-substrate eshintshiwe ye-3D ephrintiwe eyenziwe nge-thermoplastic polyurethane (TPU) kanye ne-actuator esekelwe ku-hydrogel ye-gelatin, evumela ukuguqulwa kwe-hygroscopic okuhleliwe ngaphandle kokusebenzisa izakhiwo eziyinkimbinkimbi zemishini. > > Ukusetshenziswa kwe-hydrogel esekwe ku-gelatin engu-20% kunikeza ukusebenza kwe-robotic biomimetic ethambile esakhiweni futhi kunesibopho sokusebenza komshini ohlakaniphile okuphendulayo kwento ephrintiwe ngokuphendula izinqubo zokuvuvukala ezindaweni ezimanzi. Ukusebenza kwendawo okuqondiswe kuyo kwe-thermoplastic polyurethane endaweni ye-argon - oxygen imizuzwana engama-90, ngamandla angu-100 w kanye nokucindezela okungu-26.7 pa, kwenza kube lula ukushintsha kwe-microrelief yayo, ngaleyo ndlela kuthuthukiswe ukunamathela kanye nokuqina kwe-gelatin evuvukele ebusweni bayo. > > Umqondo oqanjiwe wokudala izakhiwo ze-combo ezihambisana ne-biocompatible eziprintiwe ezingu-4D zokubamba kwe-robotic ethambile engaphansi kwamanzi unganikeza ukubamba kwendawo okungangenisi, ukuthutha izinto ezincane, nokukhulula izinto ezisebenzayo lapho kuvuvukala emanzini. Ngakho-ke umkhiqizo ophumayo ungasetshenziswa njenge-actuator ye-biomimetic eqhutshwa yiwo, uhlelo lwe-encapsulation, noma i-robotics ethambile. 3. **Ukuchazwa Kwezingxenye Zangaphandle Zengalo Yerobhothi Elinomuntu Eliphrintiwe Nge-3D Elinamaphethini Nobukhulu Obuhlukahlukene** > Ngokuthuthuka kwamarobhothi anomuntu, kudingeka izinto zangaphandle ezithambile ukuze kube nokusebenzisana okungcono phakathi kwabantu namarobhothi. Izakhiwo ze-Auxetic ezintweni ze-meta ziyindlela ethembisayo yokudala izinto zangaphandle ezithambile. Lezi zakhiwo zinezakhiwo ezihlukile zomshini. Ukuphrinta kwe-3D, ikakhulukazi ukwenziwa kwe-filament ehlanganisiwe (i-FFF), kusetshenziswa kabanzi ukudala izakhiwo ezinjalo. I-Thermoplastic polyurethane (i-TPU) ivame ukusetshenziswa ku-FFF ngenxa yokuguquguquka kwayo okuhle. Lolu cwaningo luhlose ukuthuthukisa isembozo sangaphandle esithambile serobhothi elinomuntu i-Alice III kusetshenziswa ukuphrinta kwe-FFF 3D nge-filament ye-Shore 95A TPU. > > Ucwaningo lusebenzise i-filament emhlophe ye-TPU enephrinta ye-3D ukukhiqiza izingalo zerobhothi elinomuntu i-3DP. Ingalo yerobhothi yahlukaniswa yaba izingxenye zengalo ezingaphambili nezingaphezulu. Amaphethini ahlukene (aqinile futhi angena ngaphakathi) kanye nobukhulu (1, 2, kanye no-4 mm) asetshenziswa kumasampula. Ngemva kokuphrinta, kwenziwa ukuhlolwa kokugoba, ukuthamba, kanye nokucindezela ukuze kuhlaziywe izakhiwo zomshini. Imiphumela iqinisekisile ukuthi isakhiwo se-re-entry sasigobeka kalula siye egobeni lokugoba futhi sasidinga ukucindezeleka okuncane. Ezivivinyweni zokucindezela, isakhiwo se-re-entry sasikwazi ukumelana nomthwalo uma kuqhathaniswa nesakhiwo esiqinile. > > Ngemva kokuhlaziya bonke ubukhulu obuthathu, kwaqinisekiswa ukuthi isakhiwo se-re-entry esinobukhulu obungu-2 mm sasinezici ezinhle kakhulu ngokwezakhiwo zokugoba, ukuthamba, kanye nokucindezela. Ngakho-ke, iphethini ye-re-entry enobukhulu obungu-2 mm ifaneleka kakhulu ekwenzeni ingalo yerobhothi eprintiwe engu-3D. 4. **Lawa ma-TPU “Soft Skin” e-TPU aprintiwe angu-3D anikeza amarobhothi umuzwa wokuthinta ophansi, ozwela kakhulu** > Abacwaningi base-University of Illinois Urbana – Champaign beze nendlela engabizi kakhulu yokunikeza amarobhothi umuzwa wokuthinta ofana nowomuntu: ama-3D – ama-skin pad aprintiwe aphinde abe yizinzwa zokucindezela zemishini. > > Izinzwa zerobhothi ezithintayo zivame ukuqukethe izinhlobonhlobo eziyinkimbinkimbi kakhulu ze-elekthronikhi futhi zibiza kakhulu, kodwa sibonise ukuthi ezinye izindlela ezisebenzayo nezihlala isikhathi eside zingenziwa ngentengo ephansi kakhulu. Ngaphezu kwalokho, njengoba kungumbuzo wokuphinda uhlele iphrinta ye-3D, le ndlela efanayo ingenziwa ngokwezifiso kalula ukuze ihambisane nezinhlelo ezahlukene zamarobhothi. Ihadiwe yamarobhothi ingabandakanya amandla amakhulu nama-torque, ngakho-ke idinga ukwenziwa iphephe kakhulu uma izosebenzisana ngqo nabantu noma isetshenziswe ezindaweni zabantu. Kulindeleke ukuthi isikhumba esithambile sizodlala indima ebalulekile kulokhu njengoba singasetshenziswa kokubili ukuhambisana nokuphepha kwemishini kanye nokuzwa ukuthinta. > > Inzwa yeqembu yenziwe kusetshenziswa ama-pad aphrintiwe kusuka ku-thermoplastic urethane (TPU) kuphrinta ye-Raise3D E2 3D evaliwe. Ingqimba yangaphandle ethambile imboza ingxenye yokugcwalisa engenalutho, futhi njengoba ungqimba lwangaphandle lucindezelwa ingcindezi yomoya ngaphakathi iyashintsha ngokufanele - okuvumela inzwa yokucindezela ye-Honeywell ABP DANT 005 exhunywe ku-microcontroller ye-Teensy 4.0 ukuthola ukudlidliza, ukuthinta, kanye nokucindezela okwandayo. Cabanga ukuthi ufuna ukusebenzisa amarobhothi anesikhumba esithambile ukusiza endaweni yesibhedlela. Azodinga ukuhlanzwa njalo, noma isikhumba sizodinga ukushintshwa njalo. Noma ngabe yikuphi, kunezindleko ezinkulu. Kodwa-ke, ukuphrinta kwe-3D kuyinqubo ekwazi ukukhuliswa kakhulu, ngakho-ke izingxenye ezishintshaniswayo zingenziwa ngentengo ephansi futhi zithathwe kalula emzimbeni werobhothi. 5. **Ukukhiqizwa Okungeziwe kwe-TPU Pneu – Amanethi njenge-Soft Robotic Actuators** > Kuleli phepha, ukukhiqizwa okungeziwe (AM) kwe-thermoplastic polyurethane (TPU) kuphenywa ngomongo wokusetshenziswa kwayo njengezingxenye zerobhothi ezithambile. Uma kuqhathaniswa nezinye izinto ze-AM ezinwebekayo, i-TPU yembula izakhiwo zemishini eziphakeme maqondana namandla nokucindezeleka. Ngokusebenzisa i-laser sintering ekhethiwe, ama-pneumatic bending actuators (amanethi e-pneumatic) anyatheliswa nge-3D njengesifundo se-robotic esithambile futhi ahlolwe ngokuhlola maqondana nokuphambuka phezu kwengcindezi yangaphakathi. Ukuvuza ngenxa yokuqina komoya kubonakala njengomsebenzi wobukhulu bodonga obuncane bama-actuators. > > Ukuze kuchazwe ukuziphatha kwamarobhothi athambile, izincazelo zezinto ezi-hyperelastic zidinga ukufakwa kumamodeli wokuguqulwa kwejiyometri angaba — isibonelo — okuhlaziyayo noma ngezinombolo. Leli phepha lifunda amamodeli ahlukene ukuchaza ukuziphatha kokugoba kwe-actuator yerobhothi ethambile. Ukuhlolwa kwezinto zomshini kusetshenziswa ukulinganisa imodeli yezinto ezi-hyperelastic ukuchaza i-thermoplastic polyurethane eyenziwe ngokwengeza. > > Ukulinganisa kwezinombolo okusekelwe endleleni ye-finite element kulinganiswa ukuchaza ukuguquguquka kwe-actuator futhi kuqhathaniswa nemodeli yokuhlaziya eshicilelwe muva nje ye-actuator enjalo. Zombili izibikezelo zemodeli ziqhathaniswa nemiphumela yokuhlola ye-actuator ye-robotic ethambile. Ngenkathi ukuphambuka okukhulu kufinyelelwa yimodeli yokuhlaziya, ukulinganisa kwezinombolo kubikezela i-angle yokugoba ngokuphambuka okumaphakathi okungu-9°, yize ukulinganisa kwezinombolo kuthatha isikhathi eside kakhulu ekubalweni. Endaweni yokukhiqiza ezenzakalelayo, ama-robotic athambile angaphelelisa ukuguqulwa kwezinhlelo zokukhiqiza eziqinile ziye ekukhiqizeni okusheshayo nokuhlakaniphile.
Isikhathi sokuthunyelwe: Novemba-25-2025