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《Printable Hydraulics A Method for Fabricating Robots by3D Co-Printing Solids and Liquids可印刷水力学：一种制造机器人的方法 三维共印刷固体和液体》由会员上传分享，免费在线阅读，更多相关内容在学术论文-天天文库。
1、MacCurdy,R.;Katzschmann,R.;Kim,Y.&Rus,D."PrintableHydraulics:AMethodforFabricatingRobotsby3DCo-PrintingSolidsandLiquids".2016IEEEInternationalConferenceonRoboticsandAutomation(ICRA),2016PrintableHydraulics:AMethodforFabricatingRobotsby3DCo-PrintingSolidsan
2、dLiquidsRobertMacCurdy1,RobertKatzschmann1,YoubinKim1,andDanielaRus1Abstract—Thispaperintroducesanoveltechniqueforfabri-catingfunctionalrobotsusing3Dprinters.Simultaneouslyde-positingphotopolymersandanon-curingliquidallowscomplex,Printheadpre-filledfluidicch
3、annelstobefabricated.ThisnewprintingcapabilityenablescomplexhydraulicallyactuatedrobotsandXroboticcomponentstobeautomaticallybuilt,withnoassem-blyrequired.Thetechniqueisshowcasedbyprintinglinearbellowsactuators,gearpumps,softgrippersandahexapodrobot,usinga
4、commercially-available3Dprinter.Wedetailthestepsrequiredtomodifytheprinteranddescribethedesignconstraintsimposedbythisnewfabricationapproach.LiquidIndexTerms—AdditiveManufacturing,FlexibleRobots,SoftMaterialRobotics,PrintableRobotics,HydraulicRobots.RigidF
5、lexibleI.INTRODUCTIONSupportUILDINGrobotshashistoricallybeenatime-Bconsumingprocess.Constrainedbyavailablefabrica-Fig.1.PrintableHydraulicsFabricationviaInkjet:A3Dprintersimultane-ouslydepositssolidandliquidregionswithinaprintedassembly.Prescribedtiontechn
6、iques,conventionalroboticdesignpracticedictatesstraininresponsetoappliedfluidpressurecanbeachievedbyprintingwiththatengineerssequentiallyassemblerobotsfrommanydis-solidsthathavedifferentelasticmoduliorbydesigningappropriatemodelcreteparts,withlongconcomitan
7、tassemblytimes.Mass-geometries.Supportinglayersareprovidedviaremovablesupportmaterialorliquid.Asanexample,ahexapodrobotcanbeprintedinonestep,productionachievesefficiencygainsthroughoptimizingeachrequiringonlyasingleaddedDCmotor.Themotorpumpsfluidthroughassem
8、blystep,butoptimizationrequiresthatthedesigntherobot’sbody,causingthelegstomove.befixed;evensmallchangesbecomedifficultandcostly.Additionally,becausemanyrobotsareuniqueorapplication-scalablesystem(arobotcompile
