Tendon-driven continuum robots(TDCR)are widely used in various engineering disciplines due to their exceptional flexibility and dexterity.However,their complex structure often leads to significant manufacturing costs ...Tendon-driven continuum robots(TDCR)are widely used in various engineering disciplines due to their exceptional flexibility and dexterity.However,their complex structure often leads to significant manufacturing costs and lengthy prototyping cycles.To cope with this problem,we propose a fused-deposition-modeling-printable(FDM-printable)TDCR structure design using a serial S-shaped backbone,which enables planar bending motion with minimized plastic deformation.A kinematic model for the proposed TDCR structure based on the pseudo-rigid-body model(PRBM)approach is developed.Experimental results have revealed that the proposed kinematic model can effectively predict the bending motion under certain tendon forces.In addition,analyses of mechanical hysteresis and factors influencing bending stiffness are conducted.Finally,A three-finger gripper is fabricated to demonstrate a possible application of the proposed TDCR structure.展开更多
The aim of this study was to prepare pulsatile release tablets which provide different drug delayed-release time and realize personalized administration according to the needs of patients.Fused deposition modeling(FDM...The aim of this study was to prepare pulsatile release tablets which provide different drug delayed-release time and realize personalized administration according to the needs of patients.Fused deposition modeling(FDM)3D printing technology was introduced into the field of pharmaceutics in this study,and the feasibility to prepare core-shell pulsatile release tablets was explored by combing 3D printing technology with the traditional manufacturing technology.The core of the pulsatile tablets was a commercial tablet obtained from the traditional technology,and the drug-free shell was prepared by the FDM 3D printing technology.Three kinds of tablet shells were designed using different parameters.Furthermore,the morphology,size,weight,hardness,and in vitro drug release of the 3D printed famotidine pusatile tablets were characterized and evaluated.The results showed that the 3D printed tablets appeared intact without any defects.Different parameters of outer shell affected the size,weight,hardness,and in vitro drug release of the tablets.The tablets achieved a personalized delayed release time varying from 5 to 7 h in vitro.In this way,a new method for preparing pulsatile release tablets and a new way for the personalized administration of pulsatile tablets were explored in this study.展开更多
基金supported by the teaching funding of TUM School of Engineering and Design.
文摘Tendon-driven continuum robots(TDCR)are widely used in various engineering disciplines due to their exceptional flexibility and dexterity.However,their complex structure often leads to significant manufacturing costs and lengthy prototyping cycles.To cope with this problem,we propose a fused-deposition-modeling-printable(FDM-printable)TDCR structure design using a serial S-shaped backbone,which enables planar bending motion with minimized plastic deformation.A kinematic model for the proposed TDCR structure based on the pseudo-rigid-body model(PRBM)approach is developed.Experimental results have revealed that the proposed kinematic model can effectively predict the bending motion under certain tendon forces.In addition,analyses of mechanical hysteresis and factors influencing bending stiffness are conducted.Finally,A three-finger gripper is fabricated to demonstrate a possible application of the proposed TDCR structure.
文摘The aim of this study was to prepare pulsatile release tablets which provide different drug delayed-release time and realize personalized administration according to the needs of patients.Fused deposition modeling(FDM)3D printing technology was introduced into the field of pharmaceutics in this study,and the feasibility to prepare core-shell pulsatile release tablets was explored by combing 3D printing technology with the traditional manufacturing technology.The core of the pulsatile tablets was a commercial tablet obtained from the traditional technology,and the drug-free shell was prepared by the FDM 3D printing technology.Three kinds of tablet shells were designed using different parameters.Furthermore,the morphology,size,weight,hardness,and in vitro drug release of the 3D printed famotidine pusatile tablets were characterized and evaluated.The results showed that the 3D printed tablets appeared intact without any defects.Different parameters of outer shell affected the size,weight,hardness,and in vitro drug release of the tablets.The tablets achieved a personalized delayed release time varying from 5 to 7 h in vitro.In this way,a new method for preparing pulsatile release tablets and a new way for the personalized administration of pulsatile tablets were explored in this study.
