软体机器人3D打印制造技术研究综述

doi:10.3901/JME.2021.15.186

机械工程学报 ›› 2021, Vol. 57 ›› Issue (15): 186-198.doi: 10.3901/JME.2021.15.186

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软体机器人3D打印制造技术研究综述

王永青¹, 邓建辉¹, 李特¹, 刘阔¹, 刘海波¹, 马书根²

1. 大连理工大学精密与特种加工教育部重点实验室大连 116024;
2. 立命馆大学机器人系滋贺 525-8577 日本

收稿日期:2020-08-10 修回日期:2020-12-26 出版日期:2021-08-05 发布日期:2021-11-03
通讯作者: 李特(通信作者),男,1987年出生,博士,副教授,硕士研究生导师。主要研究方向为软体机器人、仿生机器人、智能装备控制等。E-mail:teli@dlut.edu.cn
作者简介:王永青,男,1969年出生,博士,教授,博士研究生导师,长江学者特聘教授。主要研究方向为测量-加工一体化制造理论与技术、智能机电装备与系统、装备在机测量理论与技术等。E-mail:yqwang@dlut.edu.cn;邓建辉,男,1995年出生,硕士研究生。主要研究方向为软体机器人、软体3D打印。E-mail:dx187735@mail.dlut.edu.cn;刘海波,男,1983年出生,博士,教授,硕士研究生导师。主要研究方向为测量-加工一体化、数字化精密测量等。E-mail:hbliu@dlut.edu.cn;刘阔,男,1983年出生,博士,副教授,硕士研究生导师。主要研究方向为基于深度学习的加工质量智能预测、基于加工大数据的设备健康监测及智能诊断等。E-mail:liukuo@dlut.edu.cn;马书根,男,1963年出生,博士,教授,博士生导师,IEEE Fellow,JSME Fellow。主要研究方向为仿生机器人的设计与控制方法研究、超冗长和多自由度仿生机器人的研究与开发等。E-mail:shugen@se.ritsumei.ac.jp
基金资助:
国家自然科学基金（51805071）、中央高校基本科研业务费（DUT18RC（3）073）和大连市人才专项计划（2019RQ026）资助项目。

Review of Research on 3D Printing Manufacturing Technology of Soft Robots

WANG Yongqing¹, DENG Jianhui¹, LI Te¹, LIU Kuo¹, LIU Haibo¹, MA Shugen²

1. Key Laboratory for Precision & Non-traditional Machining of Ministry of Education, Dalian University of Technology, Dalian 116024;
2. Department of Robotics, Ritsumeikan University, Shiga-ken 525-8577, Japan

Received:2020-08-10 Revised:2020-12-26 Online:2021-08-05 Published:2021-11-03

摘要/Abstract

摘要： 基于弹性、软质材料的软体机器人变形能力强、人-机-环境共融性好，在工业、医疗、家庭服务等众多领域具有良好的应用前景。软体机器人是本体、驱动、感知等高度集成的新型机电一体化智能系统。软体机器人呈现的诸多新特征给机器人领域的制造、驱动、建模、感知及控制等技术带来了全新的挑战。软质材料3D打印技术与装备的快速发展为软体机器人制造实现提供了有力支撑。首先，介绍了主流软质材料3D打印技术的基本原理与特点，包括熔融沉积成形、直接墨水书写、喷墨打印、光固化成型和选择性激光烧结3D打印技术。然后，针对软体机器人一体化制造发展需求，介绍了多材料3D打印、4D打印、嵌入式3D打印等前沿技术。最后，介绍和分析了国内外基于3D打印技术的软体驱动器和柔性传感器经典案例，结合控制-传感-驱动一体化的类生物结构软体机器人发展需求，预测了未来3D打印技术主要发展趋势与技术挑战。

关键词: 3D打印, 软体机器人, 一体化制造技术, 软体驱动器, 柔性传感器

Abstract: Soft robots based on elastic and soft materials have strong deformation ability and good human-machine-environment integration, and have good application prospects in many fields such as industry, medical treatment, and home service. Software robot is a new type of highly integrated mechatronics intelligent system such as ontology, drive and perception. Many new features presented by soft robots bring new challenges to manufacturing, driving, modeling, sensing and control technologies in the field of robotics. The rapid development of 3D printing technology and equipment for soft materials has provided favorable support for the realization of software robot manufacturing. First, the basic principles and characteristics of mainstream soft material 3D printing technology are introduced, including fused deposition modelling, direct ink writing, inkjet printing, stereo lithography and selective laser sintering 3D printing technology. Then, in response to the development needs of software robot integrated manufacturing, multi-material 3D printing, 4D printing, embedded 3D printing and other cutting-edge technologies were introduced. Finally, introduced and analyzed the classic cases of software drivers and flexible sensors based on 3D printing technology at home and abroad, combined with the development needs of control-sensing-drive integrated biostructure-like soft robots, and forecasted the main development trends and technologies of 3D printing technology in the future challenge.

Key words: 3D printing, soft robot, integrated manufacturing technology, software driver, flexible sensor

中图分类号:

TP242

王永青, 邓建辉, 李特, 刘阔, 刘海波, 马书根. 软体机器人3D打印制造技术研究综述[J]. 机械工程学报, 2021, 57(15): 186-198.

WANG Yongqing, DENG Jianhui, LI Te, LIU Kuo, LIU Haibo, MA Shugen. Review of Research on 3D Printing Manufacturing Technology of Soft Robots[J]. Journal of Mechanical Engineering, 2021, 57(15): 186-198.

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软体机器人3D打印制造技术研究综述

Review of Research on 3D Printing Manufacturing Technology of Soft Robots

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