Yin Amfani da Multi Jet Fusion na Nylon-12 don Robots na Tube Masu Tsaka-tsaki na 3D: Nazarin Yiwuwar

1. Gabatarwa

Robots na Tube Masu Tsaka-tsaki (CTRs) ƙananan injinan sarrafawa ne masu sassauƙa, waɗanda aka haɗa da bututu masu lanƙwasa da aka riga aka yi, waɗanda aka haɗa su cikin juna. Ikon su na fassara da juyawa daban-daban, tare da haɗin gwiwar roba, yana ba da damar motsin lanƙwasa kamar na tentacle wanda ya dace da aikace-aikacen tiyata mai ƙarancin kutsawa (MIS). A al'ada ana yin su daga Nitinol mai matuƙar roba, CTRs suna fuskantar ƙalubalen masana'antu saboda rikitaccen jiyya na zafi da ake buƙata don cimma ƙayyadaddun lanƙwasa. Wannan binciken yana binciken yiwuwar amfani da Multi Jet Fusion (MJF) na ƙara masana'antu tare da polymer Nylon-12 a matsayin madadin Nitinol, da nufin sauƙaƙa da haɓaka ƙirar samfuran CTRs.

2. Kayan Aiki da Hanyoyi

Hanyar binciken ta ƙunshi siffanta Nylon-12 da aka buga ta MJF da gwada ayyukansa a cikin yanayin da ya dace da CTR.

2.1 Fasahar Multi Jet Fusion (MJF)

MJF, wanda Hewlett-Packard ya haɓaka, tsari ne na narkar da gado mai foda. Yana ajiye yadudduka na foda na kayan (Nylon-12), yana amfani da makamashin infrared don dumama, kuma yana amfani da sinadarai (wakilan haɗawa da cikakkun bayanai) don sauƙaƙa haɗin zafi daidai. Idan aka kwatanta da Zaɓin Laser Sintering (SLS), MJF yana ba da mafi girman daidaiton girma, ƙayyadaddun ƙuduri, da ikon ƙirƙirar gine-ginen bango mafi sirara—fa'idodi masu mahimmanci don ƙirƙirar ƙananan bututu masu rikitarwa na CTR. An ba da aikin ƙirƙira ga Proto Labs.

2.2 Siffanta Matsi da Matsi (Stress-Strain Characterization)

An gudanar da gwaje-gwajen tauri bisa ga ma'auni na ASTM D638 ta amfani da samfuran "kashi-kashi" akan Injin Gwaji na Duniya na Instron 5500R. Manufar ita ce tantance kewayon roba na layi na kayan da kuma Modulus na Young ($E$), waɗanda su ne mahimman sigogi don ƙirar injiniyoyi da hasashen halayen CTRs.

2.3 Gwajin Gajiya (Fatigue Testing)

Don tantance ɗorewa a ƙarƙashin maimaita lanƙwasa—wani muhimmin buƙatu ga robots na tiyata—an yi gwajin gajiya. An yi wa bututu guda na Nylon-12 (OD: 3.2 mm, kaurin bango: 0.6 mm, radius na lanƙwasa: 28.26 mm) zagaye na miƙewa a cikin rami mai rami sannan a sake shi zuwa yanayinsa na lanƙwasa. An sarrafa wannan zagayowar kuma an maimaita shi sau 200, tare da rubuce-rubucen gani kowane zagaye 10 don saka idanu kan tsagewa ko gazawa.

2.4 Tabbatar da Lanƙwasa a cikin Jirgi (In-Plane Bending Verification)

An tsara gwaji don tabbatar da ko tsarin injiniyoyi da aka kafa don bututu masu tsaka-tsaki, wanda Webster da sauransu suka gabatar, yana aiki ga bututun Nylon-12 da aka buga ta MJF. Wannan ƙirar tana hasashen daidaiton lanƙwasa na bututu biyu masu daidaitawa a tsaki bisa ga ƙayyadaddun lanƙwasa da taurinsu na kowane ɗayan.

3. Sakamako da Tattaunawa

Mahimman Binciken Gwaji

Kaddarorin Kayan: Gwajin tauri ya ba da Modulus na Young don MJF Nylon-12, muhimmin shigarwa don ƙirar injiniyoyi na CTR.
Aikin Gajiya: Bututun Nylon-12 ya jure zagaye 200 na miƙewa da saki ba tare da lalacewa ko gazawa da ake iya gani ba, wani gagarumin ci gaba akan bututun da aka yi da SLS a baya waɗanda aka lura da su don raunin ƙarfi.
Tabbatar da Ƙirar: Sakamakon farko ya nuna cewa za a iya amfani da ƙirar lanƙwasa a cikin jirgi ga bututun MJF Nylon-12, yana nuna halayen injiniya da za a iya hasasawa.

Binciken ya nuna cewa MJF ya shawo kan manyan iyakoki na SLS don wannan aikace-aikacen, musamman dangane da ƙuduri da kaurin bango. Nasarar gwajin gajiya sakamako ne mai mahimmanci, yana magance babban rauni na CTRs na polymer. Duk da haka, takardar tana nuna cewa ana buƙatar ƙarin kwatanta ƙididdiga na ƙarfin lanƙwasa, hysteresis, da aikin zagaye na dogon lokaci (>1000 zagaye) da ma'auni na Nitinol.

4. Cikakkun Bayanai na Fasaha da Tsarin Lissafi

Mahimman injiniyoyi na CTR suna ƙarƙashin mu'amalar roba tsakanin bututu. Ga bututu biyu da aka daidaita don lanƙwasa a cikin jirgi ɗaya, daidaiton lanƙwasa ($\kappa$) ana bayar da shi ta:

$\kappa = \frac{E_1 I_1 \kappa_1 + E_2 I_2 \kappa_2}{E_1 I_1 + E_2 I_2}$

Inda:

$E_i$ shine Modulus na Young na bututu $i$ (wanda aka samu daga gwajin tauri na Nylon-12).
$I_i$ shine lokaci na biyu na yanki na ɓangaren bututu $i$.
$\kappa_i$ shine ƙayyadaddun lanƙwasa na bututu $i$.

Wannan ƙirar tana ɗaukan roba na layi kuma tana watsi da jujjuyawar. Gwajin tabbatar da lanƙwasa na binciken yana nufin gwada ingancin wannan ƙirar don tsarin kayan MJF Nylon-12.

5. Tsarin Bincike: Nazarin Lamari Ba tare da Lamba ba

Yanayi: Dakin bincike yana nufin haɓaka CTR na musamman na majinyaci don aikin tiyata mai laushi na neurosurgical. Hanyar da ake buƙata tana da siffa mai rikitarwa, mai lanƙwasa da yawa.

Aikace-aikacen Tsarin:

Zane & Kwaikwayo: Ta amfani da hoton likita (misali, MRI), ana ƙirƙira hanyar da ake so. Ana ƙididdige ƙayyadaddun lanƙwasa na bututu ta amfani da juyin halitta na baya bisa ga ƙirar injiniyoyi ($\kappa = \frac{E_1 I_1 \kappa_1 + ...}{...}$). Ana gudanar da ƙirar tare da kaddarorin kayan MJF Nylon-12 ($E$).
Ƙirƙira: Ana buga bututun da aka tsara ta amfani da fasahar 3D ta amfani da fasahar MJF, yana amfani da daidaitonta don bangon sirara da lanƙwasa masu rikitarwa.
Tabbatarwa: Bututun da aka buga suna fuskantar gwajin gajiya da aka bayyana (zagaye 200+) da gwajin ƙarfin lanƙwasa akan hasashen ƙirar.
Maimaitawa: Bambance-bambance tsakanin kwaikwayo da gwaje-gwajen zahiri suna komawa cikin ƙirar don daidaita kaddarorin kayan ko sigogin zane don samfuri na gaba.

Wannan zagaye na zane mai maimaitawa, mai cike da ƙira, yana misalta yadda MJF zai iya haɓaka haɓakar CTR.

6. Aikace-aikace da Jagorori na Gaba

Robots na Tiyata na Musamman na Majinyaci: Ƙarfin ƙirar sauri na MJF zai iya ba da damar CTRs da aka keɓance ga tsarin jikin kowane majinyaci, wanda aka samo kai tsaye daga binciken CT/MRI, mai yuwuwar inganta sakamakon tiyata.
Kayan Aiki na Zubarwa/Amfani Guda: Bugun polymer mai tsada yana buɗe kofa ga CTRs masu tsafta, amfani guda ɗaya, yana kawar da farashin sake sarrafawa da haɗarin kamuwa da cuta.
Bugun Kayan Aiki da Yawa da Aiki: Tsarin MJF na gaba na iya haɗa kayan aiki da yawa (misali, sassan da suka fi tauri, alamomin radiyo) ko ma saka na'urori masu auna firikwensin ko tashoshi don ban ruwa/tsotsa a cikin bangon bututu yayin bugu.
Haɗawa da Zane mai Amfani da AI: Haɗa algorithms na ƙirar samarwa tare da MJF zai iya inganta tsarin bututu don nauyi, tauri, da daidaiton bin hanya fiye da yanayin lissafi na al'ada.

7. Nassoshi

Gilbert, H. B., da sauransu. (2016). Robots na Tube Masu Tsaka-tsaki: Matsayin Fasaha da Jagororin Gaba. Binciken Robotics, 293-308.
Aikin da ya gabata akan SLS na Nylon-12 don CTRs (kamar yadda aka ambata a cikin PDF).
Nassoshi kan ƙalubalen zafi na Nitinol don CTRs (kamar yadda aka ambata a cikin PDF).
HP Inc. (2023). Bayyani Game da Fasahar HP Multi Jet Fusion. An samo daga [Gidan Yanar Gizon HP].
Webster, R. J., & Jones, B. A. (2010). Zane da Ƙirar Kinematic na Robots na Ci gaba na Lanƙwasa: Bita. Jaridar Binciken Duniya na Robotics, 29(13), 1661-1683.
ASTM International. (2022). ASTM D638-22: Hanyar Gwaji na Ma'auni don Kaddarorin Tauri na Plastics.

8. Bincike na Asali: Fahimta ta Tsaki & Zargi

Fahimta ta Tsaki: Wannan takarda ba kawai game da musanya ƙarfe da filastik ba ce; juyi ne na dabarun daga ƙwarewar sana'a zuwa ƙirƙirar dijital a cikin injiniyoyin tiyata. Ainihin ƙimar shawarar CTRs na Nylon-12 da aka buga ta MJF ba ta cikin daidaita matuƙar roba na Nitinol—ba zai yi ba—amma a cikin ba da damar shiga ga kowa da kowa da ba da damar saurin maimaita yanayin lissafi mai rikitarwa. Yana canza haɓakar CTR daga wani aiki na musamman, mai nauyin kimiyyar kayan aiki zuwa wanda ya fi sauƙin isa, wanda ke tafiyar da software na zane.

Kwararar Hankali & Ƙarfi: Hanyar marubutan tana da tsari. Sun gano daidai mashigar ruwa (zafi na Nitinol) kuma sun zaɓi tsarin AM (MJF) wanda ƙarfinsa da aka tallata (ƙuduri, bangon sirara) ya magance matsalolin ƙirƙirar CTR kai tsaye. Gwajin gajiya shine babban nasara—ya kai hari kai tsaye ga mafi girman zargi (raunin ƙarfi na polymer) na aikin da ya gabata kamar yunƙurin SLS da ya gaza. Ta hanyar nuna tsira na zagaye 200, sun ba da hujja mai ƙarfi, tushen shaida. Haɗawa da ƙirar tushen Webster yana ba da amincin ilimi da kuma takamaiman hanyar nazarin ƙididdiga.

Kurakurai & Gibin Mai Mahimmanci: Binciken, ko da yake yana da ban sha'awa, yana jin kamar nasara ta farko. Babban rashi shine kwatanta ƙididdiga kai tsaye da Nitinol. Menene asarar hysteresis a kowane zagaye? Ta yaya ƙarfin dawowa ke raguwa akan lokaci? Ba tare da wannan ma'auni ba, da'awar "yiwuwar" tiyata ba ta daɗe ba. Tiyata ba zagaye 200 ba ce; yana game da hasashen, amintaccen watsa ƙarfi a tsawon rayuwar aikin. Bugu da ƙari, mayar da hankali kan lanƙwasa a cikin jirgi yana kaucewa ga ƙalubalen da ya fi rikitarwa kuma ya dace da asibiti na jujjuyawa da haɗaɗɗen lodi, wani wahala da aka sani ga bututun polymer. Aikin, kamar yadda aka gabatar, yana jin kamar yana tabbatar da ƙirar masana'antu amma yana magance aikin asibiti kawai.

Fahimma Mai Aiki: Ga masu bincike: Wannan farkon farawa ne mai albarka. Mataki na gaba nan da nan dole ne ya zama ma'auni na injiniyoyi kai tsaye da bututun Nitolin masu kama da girma. Ga masana'antu (kamar Proto Labs ko ƙwararrun na'urorin tiyata): Hujjar zubar da abubuwa, cannulas masu tuƙi na musamman na majinyaci ta fi ƙarfi fiye da na robots masu amfani da su gabaɗaya. Mai da hankali kan haɓakawa anan da farko. Saka hannun jari a cikin siffanta kaddarorin viscoelastic na dogon lokaci na MJF Nylon-12. Ga likitoci: Ku kalli wannan sarari. Wannan fasaha na iya, a cikin shekaru 5-7, isar da kayan aiki masu arha, ingantaccen aiki, amma buƙatar ingantaccen bayanan amincin kafin amfani. Canjin tsari daga "robot ɗaya don ayyuka da yawa" zuwa "kayan aiki ɗaya da aka inganta don aiki ɗaya" shine ƙarshen wasa na ƙarshe wannan binciken ke ba da damar.