TPU (Thermoplastic Polyurethane)e na le litšobotsi tse ikhethang tse kang ho feto-fetoha ha maemo, ho tsitsa, le ho hanyetsa ho apara, ho etsa hore e sebelisoe haholo likarolong tsa bohlokoa tsa liroboto tsa humanoid tse kang likoahelo tsa ka ntle, matsoho a robotiki, le li-sensor tse tactile. Ka tlase ho na le lisebelisoa tse qaqileng tsa Senyesemane tse hlophisitsoeng ho tsoa lipampiring tsa thuto le litlaleho tsa tekheniki: 1. **Moralo le Nts'etsopele ea Letsoho la Anthropomorphic RoboticLisebelisoa tsa TPU** > **Abstract**:Pampiri e hlahisitsoeng mona e bua ka ho rarolla bothata ba letsoho la robotiki ea anthropomorphic. Liroboto joale ke sebaka se tsoetseng pele ka ho fetesisa 'me esale ho na le sepheo sa ho etsisa batho - joalo ka ts'ebetso le boitšoaro. Letsoho la anthropomorphic ke e 'ngoe ea mekhoa ea ho etsisa batho - joalo ka ts'ebetso. Ka pampiri ena, mohopolo oa ho nts'etsapele letsoho la anthropomorphic le li-degree tsa 15 tsa tokoloho le li-activator tse 5 li hlalositsoe hammoho le moralo oa mochini, sistimi ea taolo, sebopeho le likarolo tse ikhethang tsa letsoho la robotiki. Letsoho le na le chebahalo ea anthropomorphic hape le khona ho sebetsa motho - joalo ka ts'ebetso, mohlala, ho ts'oara le ho emela boitšisinyo ba matsoho. Liphetho li senola hore letsoho le entsoe e le karolo e le 'ngoe' me ha le hloke mofuta ofe kapa ofe oa kopano 'me le bonts'a bokhoni bo botle ba ho phahamisa boima, kaha le entsoe ka flexible thermoplastic polyurethane.(TPU) lintho tse bonahalang, le elasticity ea eona e boetse e tiisa hore letsoho le bolokehile bakeng sa ho sebelisana le batho hape. Letsoho lena le ka sebelisoa ho roboto ea humanoid hammoho le letsoho la maiketsetso. Palo e lekanyelitsoeng ea li-actuator e etsa hore taolo e be bonolo 'me letsoho le be bobebe. 2 **Phetoho ea Thermoplastic Polyurethane Surface bakeng sa ho Theha Soft Robotic Gripper ka ho Sebelisa Mokhoa oa ho hatisa oa Dimensional tse nne** > E 'ngoe ea litsela tsa ho nts'etsapele tšebetso ea tlhahiso ea li-gradient additives ke ho theha meaho e hatisitsoeng ea mahlakore a mane (4D) bakeng sa ho ts'oara ha liroboto tse bonolo, tse fihlelletsoeng ka mokhoa oa ho kopanya oa 3D. baetsi ba matla. Mosebetsi ona o fana ka maikutlo a mokhoa oa ho theha motlakase - o ikemetseng o bonolo oa robotic gripper, o nang le substrate e fetotsoeng ea 3D e hatisitsoeng e entsoeng ka thermoplastic polyurethane (TPU) le actuator e thehiloeng ho gelatin hydrogel, e lumellang hygroscopic deformation ntle le ho sebelisa mekhoa e rarahaneng ea mechine. > > Tšebeliso ea 20% ea gelatin - e thehiloeng hydrogel e fana ka ts'ebetso e bonolo ea robotic biomimetic ho sebopeho 'me e ikarabella bakeng sa ts'usumetso e bohlale - ts'ebetso e arabelang ea mochine oa ntho e hatisitsoeng ka ho arabela lits'ebetsong tsa ho ruruha libakeng tsa mokelikeli. The targeted surface functionalization of thermoplastic polyurethane in an argon - oxygen environment for 90 s, ka matla a 100 w le khatello ea 26.7 pa, e nolofalletsa liphetoho ho microrelief ea eona, kahoo e ntlafatsa ho khomarela le botsitso ba gelatin e ruruhileng holim'a eona. > > Mohopolo o lemohuoeng oa ho theha meaho e hatisitsoeng ea 4D e hatisitsoeng ea li-biocompatible bakeng sa ho ts'oaroa ha liroboto tse bonolo ka tlas'a metsi e ka fana ka ho ts'oara sebakeng se sa hlaseleng, ho tsamaisa lintho tse nyane, le ho lokolla lintho tse sebetsang ha motho a ruruha ka metsing. Sehlahisoa se hlahisoang ka hona se ka sebelisoa e le mochini o ikemetseng oa biomimetic actuator, sistimi ea encapsulation, kapa liroboto tse bonolo. 3. **Tlhabollo ea Likarolo tsa Kantle bakeng sa 3D-Printed Humanoid Robot Arm e nang le Mekhoa e sa Tšoaneng le Botenya** > Ka nts'etsopele ea liroboto tsa humanoid, bokantle bo bonolo bo hlokahala bakeng sa tšebelisano e ntle ea batho - roboto. Mehaho ea Auxetic ka meta - lisebelisoa ke mokhoa o ts'episang oa ho theha bokantle bo bonolo. Mehaho ena e na le thepa e ikhethang ea mochini. Khatiso ea 3D, haholo-holo fused filament fabrication (FFF), e sebelisoa haholo ho theha mehaho e joalo. Thermoplastic polyurethane (TPU) e sebelisoa hangata ho FFF ka lebaka la ho sesa ha eona hantle. Boithuto bona bo ikemiselitse ho hlahisa sekoaelo sa kantle se bonolo bakeng sa roboto ea humanoid Alice III e sebelisang khatiso ea FFF 3D e nang le khoele ea Shore 95A TPU. > > Thuto e sebelisitse filamente e tšoeu ea TPU e nang le printa ea 3D ho etsa matsoho a roboto ea 3DP humanoid. Letsoho la roboto le ne le arotsoe ka forearm le likarolo tse ka holimo tsa letsoho. Mekhoa e fapaneng (e tiileng le e kenang hape) le botenya (1, 2, le 4 mm) e ile ea sebelisoa ho lisampole. Ka mor'a ho hatisa, ho kobeha, ho tsitsisa, le liteko tse hatellang li ile tsa etsoa ho hlahloba litšobotsi tsa mochine. Liphetho li netefalitse hore sebopeho sa ho kena hape se ne se kobeha habonolo ho leba mokokotlong o kobehang mme se hloka khatello e fokolang. Litekong tsa khatello, mohaho o kenang hape o ile oa khona ho mamella mojaro ha o bapisoa le mohaho o tiileng. > > Ka mor'a ho hlahloba litekanyo tsohle tse tharo, ho ile ha tiisoa hore mohaho o kenang hape o nang le botenya ba 2 mm o na le litšobotsi tse babatsehang mabapi le ho kobeha, ho tsitsipana le ho hatella. Ka hona, mokhoa oa ho kena hape o nang le botenya ba 2 mm o loketse ho etsa letsoho la roboto ea 3D - e hatisitsoeng ea humanoid. 4. **Tsena tsena tsa 3D-Printed TPU "Soft Skin" Pads Li Fa Liroboto The Low-Cost, Highly-Sensitive Sense of Touch ** > Bafuputsi ba Univesithi ea Illinois Urbana - Champaign ba tlile ka mokhoa o theko e tlaase oa ho fa liroboto motho - joalo ka maikutlo a ho ama: 3D - li-pads tse hatisitsoeng tsa letlalo le bonolo tse habeli joaloka mechine ea khatello ea maikutlo. > > Li-sensor tsa liroboto tse tactile hangata li na le mefuta e mengata e rarahaneng ea lisebelisoa tsa elektroniki, 'me li bitsa chelete e ngata, empa re bonts'itse hore mekhoa e meng e sebetsang, e tšoarellang e ka etsoa ka theko e tlase haholo. Ho feta moo, kaha ke potso feela ea ho hlophisa khatiso ea 3D, mokhoa o tšoanang o ka etsoa habonolo ho litsamaiso tse fapaneng tsa liroboto. Lisebelisoa tsa liroboto li ka kenyelletsa matla a maholo le li-torque, ka hona li hloka ho bolokoa li bolokehile haeba li tla sebelisana le batho ka kotloloho kapa li sebelisoe tikolohong ea batho. Ho lebeletsoe hore letlalo le bonolo le tla phetha karolo ea bohlokoa tabeng ena kaha le ka sebelisoa bakeng sa ho lumellana le ts'ireletso ea mochine le ho utloa ka letsoho. > > Sensor ya sehlopha e etswa ho sebediswa diphedi tse hatisitsweng ho tswa ho thermoplastic urethane (TPU) on the off – the – shelf Raise3D E2 3D printer. Lera le bonolo le ka ntle le koahela karolo e se nang letho, 'me ha karolo e ka ntle e hatelloa, khatello ea moea e ka hare e fetoha ka tsela e nepahetseng - e lumella Honeywell ABP DANT 005 ea khatello ea maikutlo e amanang le microcontroller ea Teensy 4.0 ho lemoha ho thothomela, ho ama le khatello e ntseng e eketseha. Ak'u nahane u batla ho sebelisa liroboto tse letlalo le bonolo ho thusa sebakeng sa sepetlele. Li ne li tla hloka ho hloekisoa khafetsa, kapa letlalo le tla hloka ho nchafatsoa khafetsa. Leha ho le joalo, ho na le litšenyehelo tse kholo. Leha ho le joalo, khatiso ea 3D ke ts'ebetso e ka senyehang haholo, kahoo likarolo tse fapanyetsanoang li ka etsoa ka theko e tlaase 'me tsa phunyeletsoa habonolo le ho tima' mele oa roboto. 5. **Tlhahiso e Eketsehileng ea TPU Pneu - Nets e le Soft Robotic Actuators ** > Ka pampiri ena, tlhahiso ea li-additive (AM) ea thermoplastic polyurethane (TPU) e batlisisoa molemong oa ts'ebeliso ea eona e le likarolo tse bonolo tsa robotic. Ha ho bapisoa le lisebelisoa tse ling tsa elastic tsa AM, TPU e senola lisebelisoa tse phahameng tsa mochini mabapi le matla le khatello. Ka ho khetha laser sintering, pneumatic bending actuators (pneu - nets) ke 3D e hatisoang e le thuto e bonolo ea robotic 'me e hlahlojoa ka liteko mabapi le ho kheloha khatello ea ka hare. Ho lutla ka lebaka la ho tiea ha moea ho bonoa e le ts'ebetso ea bonyane botenya ba lebota la li-activators. > > Ho hlalosa boits'oaro ba liroboto tse bonolo, litlhaloso tsa thepa ea hyperelastic li hloka ho kenyelletsoa mefuteng ea deformation ea geometri e ka bang - mohlala - ea tlhahlobo kapa ea linomoro. Pampiri ena e ithuta mefuta e fapaneng ho hlalosa boits'oaro ba ho kobeha ha roboto e bonolo ea actuator. Liteko tsa thepa ea mochini li sebelisoa ho parameterize mohlala oa thepa ea hyperelastic ho hlalosa ka kenyelletso e entsoeng ka thermoplastic polyurethane. > > Papiso ea lipalo e ipapisitseng le mokhoa o lekanyelitsoeng oa ntho e lekantsoeng ho hlalosa deformation ea actuator le ho bapisoa le mofuta oa tlhahlobo o sa tsoa hatisoa oa actuator e joalo. Likhakanyo ka bobeli tsa mohlala li bapisoa le liphetho tsa liteko tsa mochini o sebetsang oa robotiki o bonolo. Leha liphapang tse kholoanyane li fihlelleha ka moetso oa tlhahlobo, ketsiso ea lipalo e bolela esale pele angle e kobehang ka liphapang tse mahareng tsa 9°, leha papiso ea lipalo e nka nako e telele haholo bakeng sa palo. Sebakeng sa tlhahiso ea othomathike, liroboto tse bonolo li ka tlatselletsa phetoho ea lits'ebetso tse thata tsa tlhahiso ho isa tlhahiso e tsoetseng pele le e bohlale.
Nako ea poso: Nov-25-2025