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研究生： 鄭安庭
Cheng, An-Ting
論文名稱： 剛柔複合結構三維成型技術的開發與仿生致動器的製造
Development of 3D Forming Technology for Rigid-Soft Composite Structures and Fabrication of Biomimetic Actuators
指導教授： 蘇育全
Su, Yu-Chuan
口試委員: 陳宗麟
Chen, Tsung-Lin
陳紹文
Chen, Shao-Wen
學位類別： 碩士
Master
系所名稱： 原子科學院 - 工程與系統科學系
Department of Engineering and System Science
論文出版年： 2024
畢業學年度： 113
語文別： 中文
論文頁數： 113
中文關鍵詞： 剛柔複合材料 、雙波長光聚合三維列印 、陽離子型反應 、自由基型反應
外文關鍵詞： cationic polymerization, Rigid-Soft Composite Structures
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    • 本研究透過雙波長光聚合三維列印以及 DLP 的技術，在含有自由基型反應與陽離 子型反應的複合原料中，利用藍光和 UV 光選擇性地開啟不同聚合反應，不需複雜的結 構設計與列印流程，就能一體成型且快速製造出彈性係數差異大的剛柔材料，並應用在 仿生致動器的製造。本論文透過提高光起始劑的濃度以及選用非鹼性的丙烯酸酯作為自 由基單體，降低陽離子型反應的門檻並且增加反應轉化率以及速度，相較先前文獻中 256 倍的軟硬差異，成功列印出陽離子型材料比自由基型材料，彈性係數比高達 1651 倍的 剛柔複合結構。並且透過控制曝光劑量與後處理的方式，產生不同硬度的陽離子型材料， 原始強度 UV 光烘烤 2 個小時與 0.5 倍強度 UV 光未經烘烤，成品彈性係數具有 205 倍 的差異。我們設計簡易膝關節結構，透過軟硬材料的鏤空銜接，施力時結構產生不同形 變量與相對運動，模擬膝蓋關節的使用。在結構的 3D 模型上，本實驗透過在軟的自由 基型材料中空管柱上，包覆硬的陽離子型骨架，加壓吹氣時，軟的區域膨脹變形，硬的 區域則限制變形方向。在直徑 10mm、總長 2 公分的伸長結構中，施加 60kPa 氣壓後變 形量為 1 公分，旋轉 90 度的結構模型在加壓後可以旋轉 45 度，而旋轉 180 度的結構模 型在加壓後可以達到 90 度的旋轉。彎曲骨架的結構經過調整曝光參數，膨脹區域變得 較均勻，彎曲角度達到 127 度，接著延伸到三柱彎曲的結構中，我們優化骨架設計、降 低骨架的曝光強度以及軟硬層數的比例，將彎曲角度從 13 度提高到 55 度。最後本研究 將不同種類的結構組合，在三柱彎曲、旋轉與伸長的組合中，我們改善轉接頭的設計， 讓管線與結構在同一軸線上，為模擬內視鏡的應用提供更多角度的視野以及組裝可能性。

    This study presents a novel approach to fabricate multifunctional soft-hard composites using dual-wavelength photopolymerization and digital light processing (DLP).By incorporating both free radical and cationic polymerization reactions into a composite resin, blue and UV light are selectively employed to initiate different polymerization reactions. This method enables the rapid, one-step fabrication of structures with a wide range of elastic moduli without the need for complex design or printing processes. The fabricated composites find applications in the manufacturing of biomimetic actuators.
    To enhance the performance of the composites, the concentration of photoinitiator was increased, and non-alkaline acrylates were selected as free radical monomers.These modifications lowered the energy barrier for cationic polymerization, increasing both reaction conversion and rate. As a result, the elastic modulus ratio between the cationic and free radical materials reached an impressive 1651, significantly surpassing the previously reported ratio of 256.Furthermore, by controlling exposure dosage and post-curing conditions, cationic materials with varying hardness were produced. The elastic modulus of these materials differed by a factor of 205 when comparing samples cured under full-intensity UV light for 2 hours and those cured under half-intensity UV light without post-curing.
    A simplified knee joint structure was designed to demonstrate the potential of these composites. By strategically combining soft and hard materials, the structure exhibited different deformation patterns and relative motions under load, mimicking the behavior of a natural knee joint. In 3D-printed models, a hard cationic skeleton was encapsulated around a soft free radical hollow column. When pressurized, the soft region expanded while the hard region constrained the deformation direction. For a 10 mm diameter and 20 mm long extension structure, a deformation of 10 mm was observed under a pressure of 60 kPa. Similarly, 90-degree and 180- degree rotation structures achieved 45-degree and 90-degree rotations, respectively, upon pressurization. By adjusting exposure parameters, the bending angle of a curved skeleton structure was increased to 127 degrees with a more uniform expansion region. This concept was extended to a three-column bending structure, where the bending angle was improved from 13 degrees to 55 degrees through optimized skeleton design, reduced exposure intensity, and adjusted soft-hard layer ratios.
    Finally, different types of structures were combined to create a multifunctional actuator capable of bending, rotating, and extending. By refining the connector design, the tubing and structure were aligned on the same axis, providing a wider field of view and greater assembly possibilities for applications such as endoscopy.

    摘要 ............................................................................................................................................. i Abstract ......................................................................................................................................ii 致謝 ........................................................................................................................................... iv 目錄 ............................................................................................................................................ v 圖目錄 ..................................................................................................................................... viii 表目錄 ..................................................................................................................................... xiii 第一章、緒論 ............................................................................................................................ 1 1.1 前言.............................................................................................................................1 1.2 仿生制動器.................................................................................................................2 1.3 三維列印.....................................................................................................................4 1.3.1 三維列印技術種類..........................................................................................4 1.3.2 光固化三維列印..............................................................................................5 1.4 研究動機與目的.........................................................................................................7 第二章、文獻回顧 .................................................................................................................... 9 2.1 灰度數字光處理(g-DLP)......................................................................................9 2.1.1 g-DLP 列印 ....................................................................................................... 9 2.1.2 複合結構的列印與應用................................................................................11 2.2 多材料三維列印.......................................................................................................12 2.2.1 Multiple material stereolithography(MMSL) ............................................ 13 2.2.2 Multi-material projection micro-stereolithography(MM-PμSL) ............... 15 2.3 雙波長三維列印.......................................................................................................16 2.3.1 雙材料聚合....................................................................................................16 2.3.2 雙材料比例....................................................................................................19 2.4 複合材料選擇...........................................................................................................21 2.4.1 聚丙烯酸酯介質彈性體................................................................................21 2.4.2 陽離子型材料比例........................................................................................22 2.4.3 惰性液體介面................................................................................................26 第三章、實驗原理與設計 ...................................................................................................... 28 3.1 實驗機台介紹...........................................................................................................28 3.1.1 Bottom-up DLP 光機介紹 .............................................................................. 29 3.1.2 雙波長DLP製程..........................................................................................30 3.1.3 拉伸測試機器介紹........................................................................................32 3.1.4 其他實驗儀器與設備....................................................................................33 3.2 實驗材料介紹...........................................................................................................33 3.2.1 自由基型材料................................................................................................33 3.2.2 陽離子型材料................................................................................................36 3.3 光聚合反應原理.......................................................................................................38 3.3.1 自由基型反應................................................................................................38 3.3.2 陽離子型反應................................................................................................40 3.4 複合材料製成...........................................................................................................41 3.4.1 自由基型材料機制........................................................................................41 3.4.2 陽離子型材料機制........................................................................................44 第四章、結果與討論 .............................................................................................................. 47 4.1 複合材料列印...........................................................................................................47 4.2 複合材料拉伸測試...................................................................................................48 4.2.1 光起劑始劑濃度............................................................................................49 4.2.2 曝光劑量........................................................................................................56 4.2.3 CN90212 比例 ................................................................................................ 58 4.2.4 丙烯酸酯單體................................................................................................61 4.2.5 後處理的影響................................................................................................65 4.3 二維結構應用...........................................................................................................69 4.3.1 圖形解析能力................................................................................................69 4.3.2 不同骨架的拉伸............................................................................................71 4.3.3 模擬膝關節....................................................................................................73 4.4 三維結構加壓應用...................................................................................................74 4.4.1 伸長................................................................................................................75 4.4.2 旋轉................................................................................................................77 4.4.3 彎曲................................................................................................................80 4.4.4 三柱彎曲........................................................................................................82 4.4.5 三柱彎曲與組裝............................................................................................90 第五章、結論 .......................................................................................................................... 94 5.1 複合材料機械特性...................................................................................................94 5.2 二維結構...................................................................................................................95 5.3 三維結構運動...........................................................................................................96 第六章、未來建議 .................................................................................................................. 99 6.1 加壓縮短的結構列印...............................................................................................99 6.2 曝光圖形優化.........................................................................................................100 6.3 骨架設計與應用.....................................................................................................101 參考文獻 ................................................................................................................................ 103 附錄 ........................................................................................................................................ 105

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