AI 中文总结
本研究评估多种复杂软气动执行器制造工艺，发现熔融沉积建模（FDM）适应性最强，确立了以执行器架构与制造约束兼容性为核心的面向制造设计方法，为相关执行器开发提供实用指导。
AI 中文摘要
制造复杂的软气动执行器仍具挑战性，因为必须同时实现几何保真度、柔顺性、结构完整性和气密性。本研究针对复杂气动结构的多种制造路线开展以工艺为核心的评估，包括热收缩成型、硅酮浇筑、基于粉末和液体的增材制造，以及熔融沉积建模（FDM）。通过工艺筛选、基准制造、失效分析和工艺改进对这些工艺进行评估，以区分固有工艺限制和可纠正的制造缺陷。热收缩成型受几何一致性限制，浇筑受模具可达性和结合界面限制，基于粉末的方法受封闭通道内残留材料限制，数字光处理受所研究系统的材料特性和后处理要求限制。FDM提供了最具适应性的路线，因为其主要缺陷可通过工艺优化逐步减少。结果进一步表明，气密性不仅取决于标称壁厚，还取决于挤出路径架构；当内部后处理的可达性有限时，无支撑几何形状至关重要。这些发现确立了一种实用的面向制造的设计方法，其中工艺选择由执行器架构与制造约束之间的兼容性指导。该方法为开发用于软机器人应用的复杂、柔性和气密软气动执行器提供了实用指导。
英文摘要
Manufacturing complex soft pneumatic actuators remains challenging because geometric fidelity, compliance, structural integrity, and airtightness must be achieved simultaneously. This study presents a manufacturing-focused evaluation of several fabrication routes for complex pneumatic structures, including heat-shrink forming, silicone casting, powder- and liquid-based additive manufacturing, and fused deposition modeling (FDM). The processes were assessed through process screening, baseline fabrication, failure analysis, and process improvement to distinguish inherent process limitations from correctable manufacturing defects. Heat-shrink forming was limited by geometric conformity, casting by mold accessibility and bonded interfaces, powder-based methods by residual material trapped within enclosed passages, and digital light processing by the material properties and post-processing requirements of the investigated system. FDM provided the most adaptable route because its dominant defects could be progressively reduced through process optimization. The results further showed that airtightness depends not only on nominal wall thickness but also on extrusion-path architecture, while support-free geometry is important when access for internal post-processing is limited. These findings establish a practical design-for-manufacturing approach in which process selection is guided by the compatibility between actuator architecture and manufacturing constraints. The proposed approach provides practical guidance for developing complex, flexible, and airtight soft pneumatic actuators for soft robotic applications
DOI：10.12974/2311-8717.2026.14.09
