I-TPU (Thermoplastic Polyurethane)inezinto ezivelele ezifana nokuguquguquka, ukunwebeka, nokumelana nokugqoka, okuyenza isetshenziswe kabanzi ezingxenyeni ezibalulekile zamarobhothi e-humanoid njengamakhava angaphandle, izandla zerobhothi, nezinzwa ezithintekayo. Ngezansi kunemininingwane eminingi yesiNgisi ehlungwe kusukela kumaphepha emfundo agunyaziwe kanye nemibiko yezobuchwepheshe: 1. **Ukudizayina Nokuthuthukiswa Kwesandla Se-Anthropomorphic Robotic Ukusebenzisa IsandlaTPU Material** > **Abstract**:Iphepha elivezwe lapha lizoxazulula inkinga yesandla se-anthropomorphic robotic. Amarobhothi manje asewumkhakha othuthuke kakhulu futhi bekulokhu kunenhloso yokulingisa umuntu - njengokwenza izinto nokuziphatha. Isandla se-anthropomorphic singenye yezindlela zokulingisa umuntu - njengemisebenzi. Kuleli phepha, umqondo wokuthuthukisa isandla se-anthropomorphic esinama-degrees enkululeko angu-15 kanye nama-actuator angu-5 uye wachazwa kabanzi kanye nomklamo wemishini, uhlelo lokulawula, ukwakheka, kanye nezici zesandla samarobhothi kuxoxiwe ngakho. Isandla sinokubukeka kwe-anthropomorphic futhi singakwazi ukwenza okomuntu - njengokusebenza, isibonelo, ukubamba nokumelela ukuthinta kwezandla. Imiphumela yembula ukuthi isandla siklanywe njengengxenye eyodwa futhi asidingi noma yiluphi uhlobo lokuhlangana futhi sibonisa amandla amahle kakhulu okuphakamisa izinsimbi, njengoba senziwe nge-flexible thermoplastic polyurethane.(TPU) impahla, nokunwebeka kwaso kuqinisekisa ukuthi isandla siphephile ukuze sihlangane nabantu. Lesi sandla singasetshenziswa erobhothini le-humanoid kanye nesandla sokufakelwa. Inombolo ekhawulelwe yama-actuator yenza isilawuli sibe lula futhi isandla sibe lula. 2. **Ukulungiswa Kwendawo Ephezulu Ye-Thermoplastic Polyurethane Yokudala I-Soft Robotic Gripper Ukusebenzisa Indlela Yokuphrinta Ene-Dimensional Four-Dimensional** > Enye yezindlela zokuthuthukiswa kokukhiqiza okungeziwe kwe-gradient okusebenzayo ukwakhiwa kwezakhiwo eziphrintiwe ezine-dimensional (4D) zokubamba okuthambile kwerobhothi, ukuhlanganisa i-3D yokuhlanganisa imodeli ngokuhlanganisa ama-actuator. Lo msebenzi uphakamisa indlela yomqondo yokudala amandla - isibambi serobhothi esithambile esizimele, esihlanganisa i-substrate ephrintiwe ye-3D eshintshiwe eyenziwe nge-thermoplastic polyurethane (TPU) kanye ne-actuator esekelwe ku-gelatin hydrogel, okuvumela ukuwohloka kwe-hygroscopic okuhleliwe ngaphandle kokusebenzisa ukwakhiwa kwemishini eyinkimbinkimbi. > > Ukusetshenziswa kwe-gelatin engu-20% - i-hydrogel esekelwe kunikeza ukusebenza okuthambile kwe-robotic biomimetic esakhiweni futhi inomthwalo we-stimulus ehlakaniphile - ukusebenza komshini osabelayo wento ephrintiwe ngokuphendula izinqubo zokuvuvukala ezindaweni eziwuketshezi. Ukusebenza okuhlosiwe kwe-thermoplastic polyurethane endaweni ye-argon - oxygen ye-90 s, ngamandla angu-100 w nokucindezela kwe-26.7 pa, kusiza izinguquko ku-microrelief yayo, ngaleyo ndlela kuthuthukisa ukunamathela nokuzinza kwe-gelatin evuvukele ebusweni bayo. > > Umqondo oqashelwe wokwakha izinhlaka zekamu ze-biocompatible ze-4D eziphrintiwe ze-4D zokubamba irobhothi elithambile elingaphansi kwamanzi unganikeza ukubamba kwendawo okungavamisile, ukuthutha izinto ezincane, nokukhulula izinto eziphilayo lapho ukuvuvukala emanzini. Ngakho-ke umkhiqizo owumphumela ungasetshenziswa njenge-self-powered biomimetic actuator, i-encapsulation system, noma amarobhothi athambile. 3. **Ukubonakala Kwezingxenye Zangaphandle Zengalo Yerobhothi Ephrintiwe Ye-3D Ephrintiwe Enamaphethini Nobukhulu Abahlukahlukene** > Ngokuthuthukiswa kwamarobhothi e-humanoid, ingaphandle elithambile liyadingeka ukuze kusetshenziswe amarobhothi okungcono kakhulu phakathi kwabantu. Izakhiwo ze-Auxetic ku-meta - izinto ezisetshenziswayo ziyindlela ethembisayo yokwakha ingaphandle elithambile. Lezi zakhiwo zinezakhiwo eziyingqayizivele zemishini. Ukuphrinta kwe-3D, ikakhulukazi i-fused filament fabrication (FFF), kusetshenziswa kabanzi ukwakha izakhiwo ezinjalo. I-Thermoplastic polyurethane (TPU) ivamise ukusetshenziswa ku-FFF ngenxa yokunwebeka kwayo okuhle. Lolu cwaningo luhlose ukwenza isembozo sangaphandle esithambile serobhothi i-humanoid u-Alice III esebenzisa ukuphrinta kwe-FFF 3D nge-Shore 95A TPU filament. > > Ucwaningo lusebenzise intambo emhlophe ye-TPU enephrinta ye-3D ukuze kwakhiwe izingalo zerobhothi eziyi-3DP humanoid. Ingalo yerobhothi yahlukaniswa yaba izingxenye zengalo nengaphezulu. Amaphethini ahlukene (aqinile futhi angena kabusha) kanye nogqinsi (1, 2, no-4 mm) asetshenziswe kumasampula. Ngemva kokunyathelisa, ukugoba, ukushuba, nokuhlolwa okucindezelayo kwenziwa ukuze kuhlaziywe izici zemishini. Imiphumela yaqinisekisa ukuthi isakhiwo sokungena kabusha sasigobeka kalula sibheke ejikeni eligobayo futhi sidinga ukucindezeleka okuncane. Ezivivinyweni ezicindezelayo, isakhiwo sokungena kabusha sikwazi ukumelana nomthwalo uma kuqhathaniswa nesakhiwo esiqinile. > > Ngemva kokuhlaziya zonke izingqimba ezintathu, kwaqinisekiswa ukuthi isakhiwo sokungena kabusha esinogqinsi oluyi-2 mm sasinezici ezinhle kakhulu mayelana nokugoba, ukushuba, kanye nezakhiwo ezicindezelayo. Ngakho-ke, iphethini yokungena kabusha enogqinsi oluyi-2 mm ifaneleka kakhulu ekwenzeni ingalo yerobhothi ye-3D - ephrintiwe ye-humanoid. 4. **Lawa Maphedi E-3D-Printed TPU “Soft Skin” Anikeza Amarobhothi Inzwa Yokuthinta Ebiza Kancane, Ezwela Kakhulu** > Abacwaningi abavela eNyuvesi yase-Illinois Urbana – Champaign baqhamuke nendlela ephansi – ebiza kakhulu yokunikeza amarobhothi umuntu – njengokuthinta: i-3D – izinzwa zesikhumba ezithambile eziphrintwe kabili njengezinsimbi. > > Izinzwa zamarobhothi ezithintekayo zivame ukuqukatha izinhlobonhlobo zezinto zikagesi eziyinkimbinkimbi futhi zibiza kakhulu, kodwa sibonise ukuthi ezinye izindlela ezisebenzayo, ezihlala isikhathi eside zingenziwa ngemali ephansi kakhulu. Ngaphezu kwalokho, njengoba kuwumbuzo wokuhlela kabusha iphrinta ye-3D, indlela efanayo ingenziwa ngokwezifiso kalula kumasistimu amarobhothi ahlukene. Izingxenyekazi ze-robotic zingabandakanya amandla amakhulu nama-torque, ngakho-ke zidinga ukwenziwa ziphephe impela uma zizosebenzisana ngokuqondile nabantu noma zisetshenziswe ezindaweni zabantu. Kulindeleke ukuthi isikhumba esithambile sizodlala indima ebalulekile kulokhu njengoba singasetshenziselwa kokubili ukuthobela ukuphepha komshini kanye nokuzwa okuthintekayo. > > Inzwa yeqembu yenziwa kusetshenziswa amaphedi aphrintwe kusukela ku-thermoplastic urethane (TPU) lapho kucishiwe - i- - shelf Raise3D E2 3D printer. Isendlalelo sangaphandle esithambile simboza ingxenye yokugcwaliswa engenalutho, futhi njengoba ungqimba lwangaphandle lucindezelwa ukucindezela komoya ngaphakathi kuyashintsha ngokufanele - okuvumela inzwa yokucindezela ye-Honeywell ABP DANT 005 exhunywe ku-Teensy 4.0 microcontroller ukuze ithole ukudlidliza, ukuthinta, nokucindezela okwandayo. Cabanga ukuthi ufuna ukusebenzisa amarobhothi anesikhumba esithambile ukuze usize esimweni sasesibhedlela. Kuzodingeka zihlanzwe njalo, noma isikhumba sizodinga ukushintshwa njalo. Noma iyiphi indlela, kunezindleko ezinkulu. Kodwa-ke, ukuphrinta kwe-3D kuyinqubo eyingozi kakhulu, ngakho-ke izingxenye ezishintshayo zingenziwa ngokungabizi futhi zihlwithwe kalula futhi zikhishwe emzimbeni werobhothi. 5. **Ukwenziwa Okungeziwe Kwe-TPU Pneu – Amanethi Njenge-Soft Robotic Actuators** > Kuleli phepha, ukwakhiwa kwe-additive (AM) ye-thermoplastic polyurethane (TPU) kuyaphenywa kumongo wokusetshenziswa kwayo njengezingxenye zerobhothi ezithambile. Uma kuqhathaniswa nezinye izinto ezinwebekayo ze-AM, i-TPU yembula izakhiwo ezisezingeni eliphakeme maqondana namandla kanye nobunzima. Ngokukhetha i-laser sintering, ama-actuator okugoba womoya (i-pneu – amanetha) aphrintwa nge-3D njengocwaningo lwe-robotic ethambile futhi ahlolwe ngokuhlolwa mayelana nokuphambuka phezu kwengcindezi yangaphakathi. Ukuvuza ngenxa yokucinana komoya kubonwa njengomsebenzi wobuncane bokushuba bodonga lwama-actuator. > > Ukuze uchaze ukuziphatha kwamarobhothi athambile, izincazelo zezinto ezibonakalayo ze-hyperelastic zidinga ukufakwa kumamodeli okuguqulwa kwejiyomethri okungenzeka - ngokwesibonelo - ukuhlaziya noma izinombolo. Leli phepha lifunda amamodeli ahlukene ukuchaza ukuziphatha okugoba kwe-activator irobhothi elithambile. Ukuhlolwa kwezinto zikagesi kusetshenziswa ukuze kubekwe ipharamitha imodeli yempahla ye-hyperelastic ukuchaza ngokungeziwe ekhiqizwa i-thermoplastic polyurethane. > > Ukulingiswa kwezinombolo okusekelwe endleleni yesici esilinganiselwe kuhlukaniswa ukuze kuchazwe ukuguqulwa kwe-actuator futhi kuqhathaniswa nemodeli yokuhlaziya esanda kunyatheliswa yaleyo actuator. Zombili izibikezelo zemodeli ziqhathaniswa nemiphumela yokuhlola ye-soft robotic actuator. Nakuba ukuchezuka okukhulu kufinyelelwa ngemodeli yokuhlaziya, ukulingisa kwezinombolo kubikezela i-engeli egobayo enokwehlukana okumaphakathi okungu-9°, nakuba izifaniso zezinombolo zithatha isikhathi eside kakhulu ekubaleni. Endaweni yokukhiqiza ezenzakalelayo, amarobhothi athambile angahambisana nokuguqulwa kwezinhlelo zokukhiqiza eziqinile ziye ekukhiqizeni okushesha nokukhalipha.
Isikhathi sokuthumela: Nov-25-2025