我們已經成功實現利用DLP三維列印製程達到製作微流體系統元件及氣壓式制動器之複合功能結構。DLP三維列印製程技術我們可以達到最高解析度為10微米，每層最小厚度為10微米，並且在不同層結構上結合不同材料達到複合結構之功能。我們利用DLP三維列印技術製作隔膜式振盪器及球型振盪器的複合結構，提供可切換等流速之牛頓流體，產生自發性的液體振盪，其中球型振盪器震盪頻率可達到1.77Hz高於先前報導所報導的1Hz[24]，並且輸入流量是先前報導的六分之一，且一次製造流程所花時間約30分鐘，同時可以製造20個振盪器，達到快速成型之目的。另外過去傳統製造氣動式制動器制動器為繞線方式[25,28]，且依照繞線幾何形狀不同時往往需要依靠黏著劑幫忙，DLP三維列印技術提供可製造複雜之幾何形狀外，並且可以透過設計特定結構，例如收縮結構有別於以往觀念要施加負壓才會收縮，經由結構設計可以達到施加正壓產生收縮效果，除此之外同時也設計伸長、螺旋及彎曲結構，可以依照不同應用場合及尺寸大小，搭配不同結構形狀，達到複合功能結構之目的。

Inspired by nature, researchers have begun to explore the design and control of soft-bodied robots composed of compliant materials. These robots have continuously deformable structures that result in a relatively large number of degrees of freedom compared with their hard-bodied counterparts. The key challenge for creating soft machines that achieve their full potential is the development of controllable soft bodies using smart materials and structures that can sense, actuate and compute. The goal of this thesis is to develop 3D manufacturing and integration schemes that realize complex composite structures with desired functions. More specifically, DLP (Digital Light Processing) stereolithography is employed to accomplish soft machines with desirable functionality and controllability.
A high-resolution light engine based on TI’s 1920×1080 micromirror array, is used to project the images for layer-by-layer photo-polymerization. The pitch of the micro-mirror array is 5.4 μm, so the utilization of adjustable projection lens results in an output image resolution ranging from 2.7 to 27 μm. The Z resolution (i.e., the minimum layer thickness) of the customized 3D printing platform is down to 10 μm. In the prototype demonstration, (1) a new type of all-elastomer, miniature pneumatic actuators that can be tailored to yield desired locomotion and forces for medical applications, and (2) novel fluidic oscillators that generate periodic flow outputs autonomously for clocking and switching functions are realized and integrated. The composite pneumatic actuators are capable of performing desired actuation, including contraction, elongation, bending, twisting, and their combinations on demand. It is demonstrated for the first time that the fluidic oscillators and the integrated osmotic pumps can operate auton¬omously and achieve a maximum frequency up to 1.7 Hz. They can function as integrated controllers and built-in power sources to realize auton¬omous and programmable systems. As such, sophisticated and automated control of pressure driven soft robots and microfluidic systems can potentially be realized.

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