Research On Additive Manufacturing Technology Of Magneto-induced Stiffness Software Driver

The soft robot is a new type of mechatronics intelligent system with high integration of body,drive and perception.It has the advantages of good continuous deformation ability,movement flexibility,friendly interaction and biocompatibility.The multi-function and high integration make the soft robot manufacturing technology one of the current research hotspots.This article focuses on the magneto-induced stiffness soft driver,and carries out the 3D printing technology research based on the principle of direct ink writing.The specific research content is as follows:(1)Based on the analysis of the magneto-induced stiffness characteristics of the soft drive,the material selection that maximizes the amplitude of the stiffness change is studied.First,the overall configuration of the magneto-induced rigidity software driver is designed.Then,a theoretical model of magnetorheological elastomer was constructed based on the Kelvin model.Finally,on the basis of the theoretical model,the influence of each parameter on the stiffness change range was discussed,and the best material selection was obtained.(2)According to the requirements of the principle of direct ink writing on printing materials,the 3D printing material formula and configuration process are studied.First of all,in view of the problem that MRE materials cannot be directly applied to direct ink writing,silica is used as a rheology modifier to improve the printability of MRE.Then,based on this,the corresponding material formula was summarized.Finally,in order to ensure that the material is uniform and free of large particles and style,the material configuration process research was carried out.(3)Aiming at the difficulties of preparing magneto-induced rigidity software drivers with silicone and magnetorheological elastomer materials,the influence of printing parameters on the 3D printing process was studied.First,a theoretical model of the principle of direct ink writing is established,and printing parameters that affect the forming law of filaments are obtained.Then,a series of experiments were designed using the controlled variable method,and the study of filament forming law was carried out.Finally,using silicone and MRE alternate printing,the magneto-induced stiffness soft drive was prepared.(4)In order to verify the feasibility of the 3D printing process,the 3D printed magnetorheological elastomer samples and software drivers were tested for stiffness.First,a rigidity test platform with a controllable magnetic field was built.Then,the magneto-rheological elastomer's magneto-induced stiffness effect was tested to verify the correctness of the theoretical model.Finally,the variable stiffness performance of the magneto-induced variable stiffness software driver under different air pressures was tested,and the variable stiffness performance of the software driver was verified.