机器人2026，Vol.48Issue(1)：150-162,13.DOI:10.13973/j.cnki.robot.240249
基于双材料3D打印技术的多模式模块化软体机器人设计与实验研究
Design and Experimental Study on a Multi-mode Modular Soft Robot Based on Dual-material 3D Printing Technology
摘要
Abstract
The design of a modular soft robot based on dual-material 3D printing technology is presented,to enhance the performance of modular actuators and the overall adaptability of the robot.By utilizing dual-material printing technology,the actuators are divided into strain-limiting layers and expansion layers,which optimizes the actuator structure to improve the output performance and service life while enhancing the motion accuracy and reliability.Based on this technology,a modular robotic system with multiple motion modes is designed,allowing for the flexible replacement of actuator modules according to task requirements,thereby effectively improving the mobility and functional diversity of the robot.Experimental results show that the dual-material printing technology not only improves the actuator performance,but also provides a new solution for the adaptability and task execution of modular soft robots in various application scenarios.This work offers new ideas for the design and manufacturing of modular soft robots,with significant implications for performance optimization and multifunctional task execution.关键词
双材料3D打印制造/模块化/软体建模与仿真/软体机器人Key words
dual-material 3D printing manufacturing/modularization/soft modeling and simulation/soft robot引用本文复制引用
谢文龙,何相辰,李嘉晨,金国庆..基于双材料3D打印技术的多模式模块化软体机器人设计与实验研究[J].机器人,2026,48(1):150-162,13.基金项目
国家自然科学基金(U22B2089). （U22B2089）
