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The purpose of this paper is to investigate the process of fused filament fabrication (FFF) of a compliant gripper (CG) using thermoplastic polyurethane (TPU) material. The paper studies the applicability of different CG designs and the efficiency of some design parameters.

After reviewing a number of different papers, two designs were selected for a number of exploratory experiments. Using design of experiments (DOE) techniques to identify important design parameters. Finally, the efficiency of the parts was investigated.

The research finds that a simpler design sacrifices some effectiveness in exchange for a remarkable decrease in production cost. Decreasing infill percentage of previous designs and 3D printing them, out of TPU, experimenting with different parameters yields functional products. Moreover, the paper identified some key parameters for further optimization attempts of such prototypes.

The cost of conducting FFF experiments for TPU increases dramatically with product size, number of parameters studied and the number of experiments. Therefore, all three of these factors had to be kept at a minimum. Further confirmatory experiments encouraged.

This paper addresses an identified need to investigate applications of FFF and TPU in manufacturing functional efficient flexible mechanisms, grippers specifically. While most research focused on designing for increased performance, some research lacks discussion on design philosophy, as well as manufacturing issues. As the needs for flexible grippers vary from high-performance grippers to lower performance grippers created for specific functions/conditions, some effectiveness can be sacrificed to reduce cost, reduce complexity and improve applicability in different robotic assemblies and environments.

Polyurethane (PUR) foam parts are traditionally manufactured using metallic molds, an unsuitable approach for prototyping purposes. Thus, rapid tooling of disposable molds using fused filament fabrication (FFF) with polylactic acid (PLA) and glycol-modified polyethylene terephthalate (PETG) is proposed as an economical, simpler and faster solution compared to traditional metallic molds or three-dimensional (3D) printing with other difficult-to-print thermoplastics, which are prone to shrinkage and delamination (acrylonitrile butadiene styrene, polypropilene-PP) or high-cost due to both material and printing equipment expenses (PEEK, polyamides or polycarbonate-PC). The purpose of this study has been to evaluate the ease of release of PUR foam on these materials in combination with release agents to facilitate the mulding/demoulding process.

PETG, PLA and hardenable polylactic acid (PLA 3D870) have been evaluated as mold materials in combination with aqueous and solvent-based release agents within a full design of experiments by three consecutive molding/demolding cycles.

PLA 3D870 has shown the best demoldability. A mold expressly designed to manufacture a foam cushion has been printed and the prototyping has been successfully achieved. The demolding of the part has been easier using a solvent-based release agent, meanwhile the quality has been better when using a water-based one.

The combination of PLA 3D870 and FFF, along with solvent-free water-based release agents, presents a compelling low-cost and eco-friendly alternative to traditional metallic molds and other 3D printing thermoplastics. This innovative approach serves as a viable option for rapid tooling in PUR foam molding.

This paper aims to evaluate the mechanical behaviour of polycarbonate/acrylonitrile butadiene styrene (PC/ABS) filaments for fusion filament fabrication (FFF). PC/ABS have emerged as a promising material for FFF due to their excellent mechanical properties. However, the optimal processing conditions and the effect of the blending ratio on the mechanical properties of the resulting workpieces are still unclear.

A statistical factorial matrix was designed, including infill pattern, printing speed, nozzle size, layer height and printing temperature as factors (with three levels). A total of 810 workpieces were printed using PC/ABS blends filament with the FFF. The workpieces’ finishing and mass were evaluated. Tensile tests were performed. Analysis of variance was performed to determine the main effects of the processing conditions on the mechanical properties.

The results showed that the PC/ABS (70/30) exhibited higher tensile. Tensile rupture corresponded to 30% of the tensile strength. The infill pattern showed the highest contribution to the responses. The concentric pattern showed higher tensile strength. Tensile strength and mass ratio demonstrated the influence of mass on tensile strength. The influence of printing parameters on deformation depended on the blend proportions. Higher printing speed and lower layer height provided better quality workpieces.

This study has implications for the design and manufacturing of three-dimensional printed parts using PC/ABS filaments. An extensive experimental matrix was applied, aiming at a complete understanding of mechanical behavior, considering the main printing parameters and combinations not explored by literature.

Fused Filament Fabrication (FFF) is one of the growing technologies in additive manufacturing, that can be used in a number of applications. In this method, process parameters can be customized and their simultaneous variation has conflicting impacts on various properties of printed parts such as dimensional accuracy (DA) and surface finish. These properties could be improved by optimizing the values of these parameters.

In this paper, four process parameters, namely, print speed, build orientation, raster width, and layer height which are referred to as “input variables” were investigated. The conflicting influence of their simultaneous variations on the DA of printed parts was investigated and predicated. To achieve this goal, a hybrid Genetic Algorithm – Artificial Neural Network (GA-ANN) model, was developed in C#.net, and three geometries, namely, U-shape, cube and cylinder were selected. To investigate the DA of printed parts, samples were printed with a central through hole. Design of Experiments (DoE), specifically the Rotational Central Composite Design method was adopted to establish the number of parts to be printed (30 for each selected geometry) and also the value of each input process parameter. The dimensions of printed parts were accurately measured by a shadowgraph and were used as an input data set for the training phase of the developed ANN to predict the behavior of process parameters. Then the predicted values were used as input to the Desirability Function tool which resulted in a mathematical model that optimizes the input process variables for selected geometries. The mean square error of 0.0528 was achieved, which is indicative of the accuracy of the developed model.

The results showed that print speed is the most dominant input variable compared to others, and by increasing its value, considerable variations resulted in DA. The inaccuracy increased, especially with parts of circular cross section. In addition, if there is no need to print parts in vertical position, the build orientation should be set at 0° to achieve the highest DA. Finally, optimized values of raster width and layer height improved the DA especially when the print speed was set at a high value.

By using ANN, it is possible to investigate the impact of simultaneous variations of FFF machines’ input process parameters on the DA of printed parts. By their optimization, parts of highly accurate dimensions could be printed. These findings will be of significant value to those industries that need to produce parts of high DA on FFF machines.

The use of continuous fiber-reinforced filaments improves the mechanical properties obtained with the fused filament fabrication (FFF) process. Yet, there is a lack of simulation tailored tools to assist in the design for additive manufacturing of continuous fiber composites. To build such models, a precise elastic model is required. As the porosity caused by interbead voids remains an important flaw of the process, this paper aims to build an elastic model integrating this aspect.

To study the amount of porosity, which could be a failure initiator, this study proposes a two step periodic homogenization method. The first step concerns the microscopic scale with a unit cell made of fiber and matrix. The second step is at the mesoscopic scale and combines the elastic material of the first step with the interbead voids. The void content has been set as a parameter of the model. The material models predicted with the periodic homogenization were compared with experimental results.

The comparison between periodic homogenization results and tensile test results shows a fair agreement between the experimental results and that of the numerical simulation, whatever the fibers’ orientations are. Moreover, a void content reduction has been observed by increasing the crossing angle from one layer to another. An empiric law giving the porosity according to this crossing angle was created. The model and the law can be further used for design evaluation and optimization of continuous fiber-reinforced FFF.

A new elastic model considering interbead voids and its variation with the crossing angle of the fibers has been built. It can be used in simulation tools to design high performance fused filament fabricated composite parts.

This study evaluates the potential of using the material extrusion (MEX) process for recycling waste tire rubber (WTR). By investigating the process parameters, mechanical behaviour and morphological characterisation of a thermoplastic polyurethane-waste tire rubber composite filament (TPU-WTR), this study aims to establish a framework for end-of-life tire (ELT) recycling using the MEX technology.

The research assesses the impact of various process parameters on the mechanical properties of the TPU-WTR filament. Hysteresis analysis and Poisson’s ratio estimation are conducted to investigate the material’s behaviour. In addition, the compressive performance of diverse TPU-WTR triply periodic minimal surface lattices is explored to test the filament suitability for printing intricate structures.

Results demonstrate the potential of the TPU-WTR filament in developing sustainable structures. The MEX process can, therefore, contribute to the recycling of WTR. Mechanical testing has provided insights into the influence of process parameters on the material behaviour, while investigating various lattice structures has challenged the material’s capabilities in printing complex topologies.

This research holds significant social implications addressing the growing environmental sustainability and waste management concerns. Developing 3D-printed sustainable structures using recycled materials reduces resource consumption and promotes responsible production practices for a more environmentally conscious society.

This study contributes to the field by showcasing the use of MEX technology for ELT recycling, particularly focusing on the TPU-WTR filament, presenting a novel approach to sustainable consumption and production aligned with the United Nations Sustainable Development Goal 12.

This study aims to present an experimental approach to develop a high-strength 3D-printed recycled polymer composite reinforced with continuous metal fiber.

The continuous metal fiber composite was 3D printed using recycled and virgin acrylonitrile butadiene styrene-blended filament (RABS-B) in the ratio of 60:40 and postused continuous brass wire (CBW). The 3D printing was done using an in-nozzle impregnation technique using an FFF printer installed with a self-modified nozzle. The tensile and single-edge notch bend (SENB) test samples are fabricated to evaluate the tensile and fracture toughness properties compared with VABS and RABS-B samples.

The tensile and SENB tests revealed that RABS-B/CBW composite 3D printed with 0.7 mm layer spacing exhibited a notable improvement in Young’s modulus, ultimate tensile strength, elongation at maximum load and fracture toughness by 51.47%, 18.67% and 107.3% and 22.75% compared to VABS, respectively.

This novel approach of integrating CBW with recycled thermoplastic represents a significant leap forward in material science, delivering superior strength and unlocking the potential for advanced, sustainable composites in demanding engineering fields.

Limited research has been conducted on the in-nozzle impregnation technique for 3D printing metal fiber-reinforced recycled thermoplastic composites. Adopting this method holds the potential to create durable and high-strength sustainable composites suitable for engineering applications, thereby diminishing dependence on virgin materials.

This papers aims to study lattice structures in terms of geometric variables, manufacturing variables and material-based variants and their correlation with compressive behaviour for their application in a methodology for the design and development of personalized elastic therapeutic products.

Lattice samples were designed and manufactured using extrusion-based additive manufacturing technologies. Mechanical tests were carried out on lattice samples for elasticity characterization purposes. The relationships between sample stiffness and key geometric and manufacturing variables were subsequently used in the case study on the design of a pressure cushion model for validation purposes. Differentiated areas were established according to patient’s pressure map to subsequently make a correlation between the patient’s pressure needs and lattice samples stiffness.

A substantial and wide variation in lattice compressive behaviour was found depending on the key study variables. The proposed methodology made it possible to efficiently identify and adjust the pressure of the different areas of the product to adapt them to the elastic needs of the patient. In this sense, the characterization lattice samples turned out to provide an effective and flexible response to the pressure requirements.

This study provides a generalized foundation of lattice structural design and adjustable stiffness in application of pressure cushions, which can be equally applied to other designs with similar purposes. The relevance and contribution of this work lie in the proposed methodology for the design of personalized therapeutic products based on the use of individual lattice structures that function as independent customizable cells.

Cushioning is a useful material property applicable for a range of applications from medical devices to personal protective equipment. The current ability to apply cushioning in a product context is limited by the appropriateness of available materials, with polyurethane foams being the current gold standard material. The purpose of this study is to investigate additively manufactured flexible printing of scaffold structures as an alternative.

In this study, this study investigates triply periodic minimal surface (TPMS) structures, including Gyroid, Diamond and Schwarz P formed in thermoplastic polyurethane (TPU), as a possible alternative. Each TPMS structure was fabricated using material extrusion additive manufacturing and evaluated to ASTM mechanical testing standard for polymers. This study focuses attention to TPMS structures fabricated for a fixed unit cell size of 10 mm and examine the compressive properties for changes in the scaffold porosity for samples fabricated in TPU with a shore hardness of 63A and 90A.

It was discovered that for increased porosity there was a measured reduction in the load required to deform the scaffold. Additionally, a complex relationship between the shore hardness and the stiffness of a structure. It was highlighted that through the adjustment of porosity, the compressive strength required to deform the scaffolds to a point of densification could be controlled and predicted with high repeatability.

The results indicate the ability to tailor the scaffold design parameters using both 63A and 90A TPU material, to mimic the loading properties of common polyurethane foams. The use of these structures indicates a next generation of tailored cushioning using additive manufacturing techniques by tailoring both geometry and porosity to loading and compressive strengths.

The purpose of this paper is to present an optimisation of four-point star-shaped structures produced through additive manufacturing (AM) polylactic acid (PLA). The study also aims to investigate the compression failure mechanism of the structure.

A Taguchi L₉ orthogonal array design of the experiment is adopted in which the input parameters are resolution (0.06, 0.15 and 0.30 mm), print speed (60, 70 and 80 mm/s) and bed temperature (55°C, 60°C, 65°C). The response parameters considered were printing time, material usage, compression yield strength, compression modulus and dimensional stability. Empirical observations during compression tests were used to evaluate the load–response mechanism of the structures.

The printing resolution is the most significant input parameter. Material length is not influenced by the printing speed and bed temperature. The compression stress–strain curve exhibits elastic, plateau and densification regions. All the samples exhibit negative Poisson’s ratio values within the elastic and plateau regions. At the beginning of densification, the Poisson’s ratios change to positive values. The metamaterial printed at a resolution of 0.3 mm, 80 mm/s and 60°C exhibits the best mechanical properties (yield strength and modulus of 2.02 and 58.87 MPa, respectively). The failure of the structure occurs through bending and torsion of the unit cells.

The optimisation study is significant for decision-making during the 3D printing and the empirical failure model shall complement the existing techniques for the mechanical analysis of the metamaterials.

To the best of the authors’ knowledge, for the first time, a new empirical model, based on the uniaxial load response and “static truss concept”, for failure mechanisms of the unit cell is presented.