Characterization of Exterior Parts for 3D-Printed Humanoid Robot Arm with Various Patterns and Thicknesses.

Currently, metal is the most common exterior material used in robot development due to the need to protect the motor. However, as soft, wearable, and humanoid robots are gradually being developed, many robot parts need to be converted into artificial skin using flexible materials. In this study, in order to develop soft exterior parts for robots, we intended to manufacture exterior robot arm parts via fused filament fabrication (FFF) 3D printing according to various structural and thickness conditions and analyze their mechanical properties. The exterior parts of the robot arms were manufactured utilizing Shore 95 A TPU (eTPU, Esun, Shenzhen, China), which is renowned for its softness and exceptional shock absorption characteristics. The exterior robot arm parts were modeled in two parts, the forearm and upper arm, by applying solid (SL) and re-entrant (RE) structures and thicknesses of 1, 2, and 4 mm. The mechanical properties were analyzed through the use of three-point bending, tensile, and compression testing. All of the characterizations were analyzed using a universal testing machine (AGS-X, SHIMADZU, Kyoto, Japan). After testing the samples, it was confirmed that the RE structure was easily bendable towards the bending curve and required less stress. In terms of the tensile tests, the results were similar to the bending tests; to achieve the maximum point, less stress was required, and for the compression tests, the RE structure was able to withstand the load compared to the SL structure. Therefore, after analyzing all three thicknesses, it was confirmed that the RE structure with a 2 mm thickness had excellent characteristics in terms of bending, tensile, and compressive properties. Therefore, the re-entrant pattern with a 2 mm thickness is more suitable for manufacturing a 3D-printed humanoid robot arm.

Study on CNT/TPU cube under the 3D printing conditions of infill patterns and density.

In this study, to develop soft pressure sensor applicable to wearable robots using stretchable polymers and conductive fillers, 3.25 wt% carbon nanotubes/thermoplastic polyurethane filament with shore 94 A were manufactured. Three infill densities (20%, 50%, and 80%) and patterns (zigzag (ZG), triangle (TR), honeycomb (HN)) were applied to print cubes via fused filament fabrication 3D printing. Most suitable infill conditions were confirmed based on the slicing images, morphologies, compressive properties, electrical properties, and electrical heating properties. For each infill pattern, ZG and TR divided the layers into lines and figures, and the layers were stacked by rotation. For HN, the same layers were stacked in a hexagonal pattern. Consequently, TR divided layer in various directions, showed the strongest compressive properties with toughness 1.99 J for of infill density 80%. Especially, the HN became tougher with increased infill density. Also, the HN laminated with the same layer showed excellent electrical properties, with results greater than 14.7 mA. The electrical heating properties confirmed that ZG and HN had the high layer density, which exhibited excellent heating characteristics. Therefore, it was confirmed that performance varies depending on the 3D printing direction, and it was confirmed that HN is suitable for manufacturing soft sensors.

Characterization of Conductive 3D Printed Fingertips Manufactured by Fused Filament Fabrication.

This study purposed to develop conductivity 3D printed (3DP) fingertips and confirm their potential for use in a pressure sensor. Index fingertips were 3D printed using thermoplastic polyurethane filament with three types of infill patterns (Zigzag (ZG), Triangles (TR), Honeycomb (HN)) and densities (20%, 50%, 80%). Hence, the 3DP index fingertip was dip-coated with 8 wt% graphene/waterborne polyurethane composite solution. The coated 3DP index fingertips were analyzed by appearance property, weight changes, compressive property, and electrical property. As results, the weight increased from 1.8 g to 2.9 g as infill density increased. By infill pattern, ZG was the largest, and the pick-up rate decreased from 18.9% for 20% infill density to 4.5% for 80% infill density. Compressive properties were confirmed. Compressive strength increased as infill density increased. In addition, the compressive strength after coating was improved more than 1000 times. Especially, TR had excellent compressive toughness as 13.9 J for 20%, 17.2 J for 50%, and 27.9 J for 80%. In the case of electrical properties, the current become excellent at 20% infill density. By infill patterns at 20% infill density, TR has 0.22 mA as the best conductivity. Therefore, we confirmed the conductivity of 3DP fingertips, and the infill pattern of TR at 20% was most suitable.