Wu Wei-Lin, Tsai Shang Yu, Lo Yu-Chieh, Wang Hsueh-Cheng, Chen Hsuen-Li, Wan Dehui, Ko Fu-Hsiang
Department of Materials Science and Engineering, National Yang Ming Chiao Tung University, No. 1001, University Road, Hsinchu 30010, Taiwan.
Department of Electronics and Electrical Engineering, National Yang Ming Chiao Tung University, No. 1001, University Road, Hsinchu 30010, Taiwan.
ACS Omega. 2025 Jan 11;10(3):3080-3089. doi: 10.1021/acsomega.4c09954. eCollection 2025 Jan 28.
As robots undertake increasingly complex tasks, such as real-time visible image sensing, environmental analysis, and weather monitoring under harsh conditions, design of an appropriate robot shell has become crucial to ensure the reliability of internal electronic components. Several key factors, such as the cooling efficiency, visible transparency, mechanical performance, and weathering resistance of the shell material, are proposed in this research to ensure future robot functionality. In this study, a polymeric double-layered shell for fabrication by stereolithography 3D printing was designed, featuring a porous outer layer and a spherical inner shell. The inner spherical shell provides approximately 90% transmission in the visible to near-infrared wavelength range (450-1050 nm) and ensures the proper functioning of the optical devices, such as cameras, lidar, and solar cells, inside the robot. In addition, the inner shell material displays high emittance in the mid-infrared range (5-20 μm) to facilitate effective radiative cooling and protect the robot control system from thermal damage. The 3D-printed inner shell is exposed to a real environment for three months, and its stable optical and mechanical performance confirms its weather resistance ability. Moreover, the 3D-printed outer robot shell promotes mechanical strength while the robot is moving. The optimal 50% porous outer shell is designed to protect the inner shell from continuous moving impact. Finite element simulations are also used to show that the 50% porosity of the outer shell significantly reduces the strain energy upon impact. Compared with a conventional single-layer design with a strain energy of 130 mJ, the double-layered shell with 50% porosity exhibits a reduced strain energy of 22.09 mJ. This double-layered design, which offers excellent weather resistance, high visible transparency, and effective radiative cooling, is promising for future applications in both land and water robot shells.
随着机器人承担越来越复杂的任务，如实时可见图像传感、环境分析以及在恶劣条件下进行天气监测，设计合适的机器人外壳对于确保内部电子元件的可靠性变得至关重要。本研究提出了几个关键因素，如外壳材料的冷却效率、可见透明度、机械性能和耐候性，以确保未来机器人的功能。在本研究中，设计了一种用于立体光刻3D打印制造的聚合物双层外壳，其具有多孔外层和球形内壳。内球形壳在可见光到近红外波长范围（450 - 1050 nm）内提供约90%的透射率，并确保机器人内部的光学设备，如摄像头、激光雷达和太阳能电池的正常运行。此外，内壳材料在中红外范围（5 - 20μm）显示出高发射率，以促进有效的辐射冷却，并保护机器人控制系统免受热损坏。3D打印的内壳在真实环境中暴露三个月，其稳定的光学和机械性能证实了其耐候能力。此外，3D打印的机器人外壳在机器人移动时提高了机械强度。设计了最佳的50%孔隙率的外壳，以保护内壳免受连续移动冲击。有限元模拟还表明，外壳50%的孔隙率显著降低了冲击时的应变能。与应变能为130 mJ的传统单层设计相比，孔隙率为50%的双层壳的应变能降低至22.09 mJ。这种双层设计具有优异的耐候性、高可见透明度和有效的辐射冷却性能，在未来陆地和水上机器人外壳的应用中具有广阔前景。
