Experimental Study of Embedded 3D Printing PDMS Materials for Soft Robots

doi:10.3969/j.issn.1004-132X.2021.19.011

Abstract

Abstract: Based on the independently built embedded direct ink writing（DIW） 3D printing system， the embedded 3D printing of a complex internal structure for the soft robots was realized by using PDMS as the printing material in hydrogel. The properties of the PDMS materials were analyzed in detail and the printing processes were simulated to determine the combination of processing para-meters. The experiments of curing stretching contrast， monofilament round wire printing and round tube printing were carried out to determine the optimal combination of printing parameters. Finally， using the optimal parameter combinations， the complex bionic structures， flexible check valves and soft grippers were printed and related experiments were carried out to verify the feasibility of using embedded 3D printing PDSM to manufacture soft robots with complex structures.

Key words: embedded 3D printing, polydimethylsiloxane（PDMS） material, soft robot, processing parameter optimization

摘要： 基于自主搭建的嵌入式直接喷墨打印（DIW）式3D打印系统，对聚二甲基硅氧烷（PDMS）材料在水凝胶中进行打印，实现了软体机器人复杂内部结构的嵌入式3D打印。对PDMS材料性能进行了详细分析，并对打印过程进行了模拟仿真，从而确定了工艺参数组合；开展了固化拉伸对比实验、单丝圆线打印实验以及圆管打印实验，确定了最优打印参数组合；最后使用所确定的最优参数组合，打印出复杂仿生结构、柔性单向阀和软体抓手并进行相关实验，验证了采用嵌入式3D打印PDMS的方式制造复杂结构软体机器人的可行性。

关键词: 嵌入式3D打印, 聚二甲基硅氧烷材料, 软体机器人, 工艺参数优化

CLC Number:

TN205

ZHANG Wei, MA Kaiqi, JIN Guoqing, . Experimental Study of Embedded 3D Printing PDMS Materials for Soft Robots[J]. China Mechanical Engineering, 2021, 32(19): 2357-2366.

张伟, 马恺骐, 金国庆, . 面向软体机器人的嵌入式3D打印聚二甲基硅氧烷材料实验研究[J]. 中国机械工程, 2021, 32(19): 2357-2366.

References

［1］RUS D， TOLLEY M T. Design， Fabrication and Control of Soft Robots［J］. Nature， 2015， 521（7553）：467-475.
［2］胡兵兵，金国庆. 一种仿虎甲幼虫的多驱动器软体机器人的设计与制造［J］. 机器人， 2018， 40（5）：626-633.
HU Bingbing， JIN Guoqing. Design and Fabrication of a Multi-actuator Soft Robot Inspired by Young Tiger Beetle ［J］. Robot， 2018， 40（5）：626-633.
［3］陈尤旭，王德山，张伟，等. 面向软体机器人的3D打印硅胶软材料实验研究［J］. 中国机械工程， 2020， 31（5）：603-609.
CHEN Youxu， WANG Deshan， ZHANG Wei， et al. Experimental Study on 3D Printing Silicone Soft Materials for Soft Robots［J］. China Mechanical Engineering， 2020， 31（5）：603-609.
［4］常定勇，方跃法. 多输出3D打印冗余并联机器人的设计与分析［J］. 中国机械工程， 2015， 26（12）：1595-1602.
CHANG Dingyong， FANG Yuefa. Design and Analysis of Multi-output 3D Printing Redundant Parallel Manipulators［J］. China Mechanical Engineering， 2015， 26（12）：1595-1602.
［5］GROSSKOPF A K， TRUBY R， KIM H， et al. Viscoplastic Matrix Materials for Embedded 3D Printing［J］. ACS Applied Materials & Interfaces， 2018， 10（27）：23353-23361.
［6］WANG J， LIU Y， FAN Z， et al. Ink-based 3D Printing Technologies for Graphene-based Materials：a Review［J］. Advanced Composites and Hybrid Materials， 2019， 2（1）：1-33.
［7］WEHNER M， TRUBY R L， FITZGERALD D J， et al. An Integrated Design and Fabrication Strategy for Entirely Soft， Autonomous Robots［J］. Nature， 2016， 536（7617）：451-455.
［8］MUTH J T， VOGT D M， TRUBY R L， et al. Embedded 3D Printing of Strain Sensors within Highly Stretchable Elastomers［J］. Advanced Materials， 2014， 26（36）：6307-6312.
［9］SKYLAR M A， UZEL S G M， NAM L L， et al. Bio-manufacturing of Organ-specific Tissues with High Cellular Density and Embedded Vascular Channels［J］. Science Advances， 2019， 5（9）：24-59.
［10］HINTON J， HUDSON A， PUSCH K， et al. 3D Printing PDMS Elastomer in a Hydrophilic Support Bath via Freeform Reversible Embedding［J］. ACS Biomaterials Science and Engineering， 2016， 2（10）：1781-1786.
［11］NOOR N， SHAPIRA A， EDRI R， et al. 3D Printing of Personalized Thick and Perfusable Cardiac Patches and Hearts［J］. Advanced Science， 2019， 6（11）：344-354.
［12］LEE A， HUDSON R， SHIWARSKI J， et al. 3D Bio-printing of Collagen to Rebuild Components of the Human Heart［J］. Science， 2019， 365（6452）：482-487.
［13］BERIS A N， TSAMOPOULOS J A， ARMSTRONG R C， et al. Creeping Motion of a Sphere through a Bingham Plastic［J］. Journal of Fluid Mechanics， 1985， 158（9）：219-244.
［14］BLACKERY J， MITSOULIS E. Creeping Motion of a Sphere in Tubes Filled with a Bingham Plastic Material［J］. Journal of Non-Newtonian Fluid Mechanics， 1997， 70（1/2）：59-77.
［15］PIRUSKA A， NIKCEVIC I， LEE S H， et al. The Autofluorescence of Plastic Materials and Chips Measured under Laser Irradiation［J］. Lab on a Chip， 2005， 5（12）：1348-1354.
［16］MARIE C B， MAROIS Y. Hemocompatibility， Biocompatibility， Inflammatory and in Vivo Studies of Primary Reference Materials Low-density Polyethylene and Polydimethylsiloxane：a Review［J］. Journal of Biomedical Materials Research：Part A， 2001， 58（5）：467-477.
［17］SOUZA A， MARQUES E， BALSA C，et al. Characterization of Shear Strain on PDMS：Numerical and Experimental Approaches［J］. Applied Sciences， 2020， 10（9）：1-15.
［18］刘会聪，杨梦柯，袁鑫，等. 液态金属柔基性感知的人机交互软体机械手［J］. 中国机械工程， 2021， 32（12）：1470-1478.
LIU Huicong， YANG Mengke， YUAN Xin， et al. Liquid Metal Based Flexible Sensors for Soft Robot Manipulator towards Human-Machine Interaction［J］. China Mechanical Engineering， 2021， 32（12）：1470-1478.
［19］LAU I W W， SUN Z. Dimensional Accuracy and Clinical Value of 3D Printed Models in Congenital Heart Disease：a Systematic Review and Meta-analysis［J］. Journal of Clinical Medicine， 2019， 8（9）：1483-1500.
［20］CANTINOTTI M， VALVERDE I， KUTTY S. Three-dimensional Printed Models in Congenital Heart Disease［J］. Journal of Clinical Medicine， 2017， 33（1）：137-144.
［21］ZHAO L， ZHOU S， FAN T， et al. Three-dimensional Printing Enhances Preparation for Repair of Double Outlet Right Ventricular Surgery［J］. Journal of Cardiac Surgery， 2018， 33：24-27.
［22］HON N W L， HONS N H M， HONJO O， et al. Evaluating the Impact of Medical Student Inclusion into Hands-on Surgical Simulation in Congenital Heart Surgery［J］. Journal of Surgical Education， 2021， 78（1）：207-213.

[1]	Laixi ZHANG, Yanghaoyu ZHAO, Shengjie ZHU, Kaiwei MA, Fengyu XU. Modeling and Deformation Analysis of Dual Actuator Lung-like Soft Robots [J]. China Mechanical Engineering, 2025, 36(10): 2379-2388.
[2]	GUAN Shengchuang1, LIU Yujun2, YANG Qinghao1, LIU Zhaobing1. Model-free Trajectory Tracking Control of Soft Robots Based on LQR and UKF [J]. China Mechanical Engineering, 2025, 36(03): 570-575,583.
[3]	CHENG Jibin, DAI Ning, GUO Pei, XIONG Jiyuan, YE Shiwei, CHENG Xiaosheng. Design Techniques of Soft Robot Arms Based on Mechanics Metamaterials [J]. China Mechanical Engineering, 2023, 34(16): 1900-1906.
[4]	LI Guolong, ZHU Guohua, JIANG Lin, TAO Yijie, JIA Yachao. Optimization of Multi-objective Grinding Process Parameters to Suppress Chatter Marks [J]. China Mechanical Engineering, 2023, 34(09): 1086-1092.
[5]	YIN Haibin, TAO Jian, LI Qian, ZHOU Jia, . Analysis on Grasping Ability for a Soft Robotic Hand with Structural Decoupling of Actuator and Variable Stiffness Mechanisms [J]. China Mechanical Engineering, 2023, 34(01): 27-35.
[6]	YI Qian, LI Congbo, PAN Jian, ZHANG You. Reliability Analysis of Machining Accuracy and Processing Parameter Optimization for Thin-plate Parts [J]. China Mechanical Engineering, 2022, 33(11): 1269-1277.
[7]	CONG Ming, BI Cong, WANG Minghao, LIU Dong, DU Yu. Design of Soft Robots for Hand Function Rehabilitation Training [J]. China Mechanical Engineering, 2022, 33(08): 883-889.
[8]	LI Ming, DAI Peipei, CHANG Zhidong, CHEN Jun, . Springback Control and Compensation of Incremental Forming for Sheet Metal Parts with Open Geometric Feature [J]. China Mechanical Engineering, 2020, 31(22): 2723-2727.
[9]	FAN Xu;DAI Ning;WANG Hongtao;DING Longwei;XIE Shaohui . Bending Deformation Prediction Method of Soft Actuators with Pneumatic Networks [J]. China Mechanical Engineering, 2020, 31(09): 1108-1114.
[10]	CHEN Youxu1,2;WANG Deshan1;ZHANG Wei1,2;JIN Guoqing1,2. Experimental Study on 3D Printing Silicone Soft Materials for Soft Robots [J]. China Mechanical Engineering, 2020, 31(05): 603-609,629.
[11]	HUANG Haihong, TANG Jie, QIAN Zhengchun, . Optimization of Processing Parameters for Wear-resistant Cladding Coatings in Crankshaft Remanufacturing [J]. China Mechanical Engineering, 2018, 29(21): 2606-2614.
[12]	ZENG Shasha, PENG Weiping, LEI Jin. Optimization of Milling Process Parameters Based on Hybrid Algorithm for Thin-walled Workpieces [J]. China Mechanical Engineering, 2017, 28(07): 842-845,851.