工程设计学报2025，Vol.32Issue(5)：590-600,11.DOI:10.3785/j.issn.1006-754X.2025.05.140
基于Stewart并联机器人的皮肤生物3D打印方法研究
Study on the method of skin bio-3D printing based on Stewart parallel robot
摘要
Abstract
Biol-3D printing offers a new approach for treating skin injuries.However,the significant three-dimensional morphological heterogeneity inherent in native skin structures poses challenges for their precise replication using the existing methods.Therefore,this study integrated the Stewart parallel robot with the bioprinting technology to develop a dual-nozzle curved-surface skin printing system.Firstly,in order to obtain the workspace of the Stewart parallel robot,the inverse kinematics feasible region of the system was solved.By combining the constraints such as the lengths of the parallel robot's linkages,the rotation angles of the hinges,and the interference between the linkages,the printable angles and effective ranges of the moving platform of the parallel robot under different conditions were obtained.Subsequently,a simulation model of the printing system was constructed to validate the workspace analysis.By controlling the movements of 6 linkages,the kinematic solution of the system was solved,and the movement distance of the nozzle was obtained.Inverse solution calculation and positive solution simulation demonstrated the system's theoretical capability to print skin structures with a maximum angle of 26° and a maximum area of 142 mm×134 mm.Then,using two types of GelMA hydrogels with two colors exhibiting favorable biocompatibility,the printing system was employed to print a bilaterally symmetric pentagonal star structure,a horizontal double-layer structure with a side length of 18 mm,and a curved-surface double-layer structure with an angle of 18°.Finally,in order to verify the functionality and practicality of the printing system,cell-laden printing was performed,and the survival rate and growth status of the printed cells were obtained.This research is expected to provide an effective method for printing real skin.关键词
皮肤打印/打印方法/Stewart并联机器人/工作空间分析Key words
skin printing/printing method/Stewart parallel robot/workspace analysis分类
计算机与自动化引用本文复制引用
魏孝杰,梁文峰,朱慧轩,郭凯,高飞扬,尹震宇,李松..基于Stewart并联机器人的皮肤生物3D打印方法研究[J].工程设计学报,2025,32(5):590-600,11.基金项目
国家自然科学基金资助项目(5220053298,62573305) （5220053298,62573305）
中国科学院研究所自主部署项目(E455011701) （E455011701）
