[论文解读] Designing, 3D Printing of a Quadruped Robot and Choice of Materials for Fabrication

Akash Maity, Koustav Roy+1 more|arXiv (Cornell University)|Jun 15, 2019

Robotic Locomotion and Control参考文献 2被引用 4

一句话总结

本文提出了一种基于CAD建模和熔融沉积成型（FDM）3D打印的3D打印四足机器人设计与增材制造方法。该研究评估了材料性能，发现3003铝合金腿在强度重量比、结构稳定性和高扭矩舵机兼容性方面优于ABS，从而在电源供应受限的情况下实现了更优的运动稳定性。

ABSTRACT

Purpose-This paper is based on design of a quadruped robot and manufacturing it with 3-D printer followed by its detailed analysis. It focuses on the advantages of additive manufacturing rather than conventional manufacturing techniques and also highlights its limitations. The consequences of choice of different materials for 3-D printing are evaluated in this report. Design/methodology/Approach- The parts were designed in CAD software and made into Stereo lithography files, which were fed into the 3-D printing software. They were printed with the selection of ABS material. Low torque servos were employed in the beginning of the assembly and were controlled with the Arduino Uno micro controller. Findings- The versatility of legged robots require materials with high strength to weight ratio, where 3003 aluminium alloy sheets proved to be a better choice than conventional ABS. The ABS legs buckled under load and proved to be an inferior material choice for fabrication. The aluminium sheet fabricated legs not only imparted structural stability to the robot but also allowed in selection of more powerful servos for added strength.The bot could now achieve significant level of stability. Research Limitations/Implications- The power supply used for powering the bot was of SMPS type of power supply which made it less mobile. Due to the huge demand of current by the high torque servos used later, the power supply became a huge limitation which can be overcome by applying Lithium ion batteries. Practical Implications- The bot can be used for SLAM and autonomous navigation in areas where it is almost impossible for humans to access into. Originality/Value- This paper shows a concrete study on efficacy of quick CAD designing and rapid fabrication.

研究动机与目标

• 开发一种低成本、可定制的四足机器人，利用增材制造实现快速原型设计。
• 比较3D打印ABS与机加工3003铝合金在机器人腿部结构中的机械性能。
• 评估材料选择对结构稳定性、舵机性能及整体机器人移动性的影响。
• 识别当前电源系统在高扭矩舵机驱动机器人中的局限性。
• 展示将3D打印技术与轻质高强材料结合用于机器人研究中功能性腿式机器人快速制造的可行性。

提出的方法

• 使用CAD软件设计了所有机器人组件，包括腿部和结构框架，随后导出为STL文件用于3D打印。
• 采用熔融沉积成型（FDM）3D打印技术，使用ABS塑料进行初步原型制作。
• 将3003铝合金板材机加工成腿部组件，作为与3D打印ABS对比测试的替代方案。
• 在机器人关节中集成低扭矩和随后的高扭矩舵机以实现驱动。
• 使用Arduino Uno微控制器控制舵机运动并协调步态模式。
• 电源由SMPS单元提供，后被识别为由于高扭矩舵机的高电流消耗而限制了移动性的关键因素。

实验结果

研究问题

• RQ1 在负载条件下，3D打印ABS与机加工铝合金在机器人腿部结构完整性方面有何差异？
• RQ2 材料选择在多大程度上影响四足机器人运动过程中的稳定性和性能？
• RQ3 在动态舵机驱动下，ABS在承载部件中的机械局限性是什么？
• RQ4 使用高扭矩舵机如何影响电源需求和系统移动性？
• RQ5 结合快速原型设计与轻质高强材料的增材制造技术，是否能显著提升传统3D打印塑料机器人的功能性能？

主要发现

• 3003铝合金腿部在负载下表现出显著更高的结构稳定性，而3D打印ABS腿部则出现屈曲。
• 铝合金腿部使能够使用更强大的舵机，从而提升了运动稳定性和性能表现。
• ABS材料因屈服强度低，无法满足承载应用需求，导致运行中发生机械失效。
• SMPS电源被识别为重大限制因素，因其高扭矩舵机的高电流消耗限制了移动性。
• 本研究证实，材料选择是决定3D打印机器人系统机械性能和可靠性的关键因素。
• 快速CAD设计与3D打印的结合可实现高效原型制作，但必须对材料性能进行仔细评估以确保实际功能部署的可行性。