面向软体机器人的3D打印硅胶软材料实验研究

基于自主搭建的直接喷墨打印式打印平台，以DC737硅胶为打印材料，分析了挤出系统的力学模型，以确定工艺参数的类型；采用单因素试验确定了适合打印的层厚、打印速度和驱动压力的参数范围；采用正交试验研究了各工艺参数对打印时间、尺寸误差的影响规律，并成功应用到软体机器人的本体打印上。研究结果表明：在一定范围内，打印速度对打印时间的影响最为显著，而对尺寸误差影响最大的是驱动压力，最优工艺参数为层厚0.4 mm、打印速度15 mm/s、驱动压力124 110 Pa(18 psi)。使用最优参数组合打印出了软体毛毛虫，并进行了动态性能实验，验证了高效、高精度3D打印软体机器人的可行性。

Experimental Study on 3D Printing Silicone Soft Materials for Soft Robots

Based on the independently built direct ink writing（DIW）platform, DC 737 silicone was used as printing materials and the mechanics model of the extrusion system was analyzed to determine the type of processing parameters.Single-factor tests were used to determine the parameter ranges of layer thickness, printing speed and driving pressure which were suitable for printing.Orthogonal experiments were used to study the influences of each process parameter on printing time and dimensional errors, which was successfully applied to the body printing of soft robots.The results show that the printing speed has the most significant effect on the printing time within a certain range, and the driving pressure has the greatest effect on the dimensional errors.The optimal processing parameters are layer thickness of 0.4 mm, printing speed of 15 mm/s, and driving pressure of 124 110 Pa(18 psi).Soft caterpillars robots were printed by using the optimal parameter combination, and dynamic performance experiments were performed to verify the feasibility of high efficient and high-precision in 3D printing soft robots.