基于<strong>Stewart</strong>并联机器人的皮肤生物<strong>3D</strong>打印方法研究

doi:10.3785/j.issn.1006-754X.2025.05.140

工程设计学报

2025, Vol. 32

Issue (5): 590-600 DOI: 10.3785/j.issn.1006-754X.2025.05.140

机械设计理论与方法

基于Stewart并联机器人的皮肤生物3D打印方法研究

魏孝杰^1,^2,³(

),梁文峰¹,朱慧轩^2,^3,⁶,郭凯^2,³,高飞扬^2,³,尹震宇^4,^5,⁶,李松^2,^3,^4,^5,⁶(

)

^1.沈阳建筑大学机械工程学院，辽宁沈阳 110186
^2.中国科学院沈阳自动化研究所机器人与智能系统重点实验室，辽宁沈阳 110016
^3.中国科学院机器人与智能制造创新研究院，辽宁沈阳 110169
^4.中国科学院沈阳计算技术研究所，辽宁沈阳 110168
^5.辽宁省国产基础软硬件工控平台技术研究重点实验室，辽宁沈阳 110168
^6.中国科学院大学，北京 100049

Study on the method of skin bio-3D printing based on Stewart parallel robot

Xiaojie WEI^1,^2,³(

),Wenfeng LIANG¹,Huixuan ZHU^2,^3,⁶,Kai GUO^2,³,Feiyang GAO^2,³,Zhenyu YIN^4,^5,⁶,Song LI^2,^3,^4,^5,⁶(

)

^1.School of Mechanical Engineering, Shenyang Jianzhu University, Shenyang 110186, China
^2.Key Laboratory of Robotics and Intelligent Systems, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
^3.Innovative Research Institute of Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China
^4.Shenyang Institute of Computing Technology, Chinese Academy of Sciences, Shenyang 110168, China
^5.Liaoning Key Laboratory of Technical Research on Domestic Basic Software and Hardware Industrial Control Platforms, Shenyang 110168, China
^6.University of the Chinese Academy of Sciences, Beijing 100049, China

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摘要：

生物3D打印为皮肤损伤提供了新型治愈方法，然而真实皮肤结构所具有的三维形态显著异质性导致现有的打印方法难以实现真实皮肤打印。因此，将Stewart并联机器人与生物3D打印技术相结合，设计了双喷头曲面皮肤打印系统。首先，为了获取Stewart并联机器人的工作空间，求解系统逆运动学可行域，结合并联机器人支链长度、铰链转角以及支链间干涉等约束条件，得出了并联机器人动平台在不同条件下的可打印角度和有效范围。其次，为了验证打印系统工作空间的准确性，建立了打印系统仿真模型，通过控制6条支链的运动，求解系统的运动学正解，得到了喷头的移动距离。经过逆解运算和正解仿真得出，皮肤打印系统理论上可打印最大角度为26°和最大面积为142 mm×134 mm的皮肤结构。然后，采用具有良好生物相容性的2种颜色的GelMA水凝胶，利用打印系统打印出左右对称的五角星结构、边长为18 mm的水平双层结构和角度为18°的曲面双层结构。最后，为了验证打印系统的功能性和实际应用价值，进行载细胞打印，得到了打印后细胞的成活率和生长状况。该研究有望为真实皮肤的打印提供一种有效的方法。

关键词： 皮肤打印; 打印方法; Stewart并联机器人; 工作空间分析

Abstract:

Biol-3D printing offers a new approach for treating skin injuries. However, the significant three-dimensional morphological heterogeneity inherent in native skin structures poses challenges for their precise replication using the existing methods. Therefore, this study integrated the Stewart parallel robot with the bioprinting technology to develop a dual-nozzle curved-surface skin printing system. Firstly, in order to obtain the workspace of the Stewart parallel robot, the inverse kinematics feasible region of the system was solved. By combining the constraints such as the lengths of the parallel robot's linkages, the rotation angles of the hinges, and the interference between the linkages, the printable angles and effective ranges of the moving platform of the parallel robot under different conditions were obtained. Subsequently, a simulation model of the printing system was constructed to validate the workspace analysis. By controlling the movements of 6 linkages, the kinematic solution of the system was solved, and the movement distance of the nozzle was obtained. Inverse solution calculation and positive solution simulation demonstrated the system's theoretical capability to print skin structures with a maximum angle of 26° and a maximum area of 142 mm × 134 mm. Then, using two types of GelMA hydrogels with two colors exhibiting favorable biocompatibility, the printing system was employed to print a bilaterally symmetric pentagonal star structure, a horizontal double-layer structure with a side length of 18 mm, and a curved-surface double-layer structure with an angle of 18°. Finally, in order to verify the functionality and practicality of the printing system, cell-laden printing was performed, and the survival rate and growth status of the printed cells were obtained. This research is expected to provide an effective method for printing real skin.

Key words: skin printing printing method Stewart parallel robot workspace analysis

收稿日期: 2025-05-13 出版日期: 2025-10-31

CLC:

TP 242.2

基金资助: 国家自然科学基金资助项目(5220053298);国家自然科学基金资助项目(62573305);中国科学院研究所自主部署项目(E455011701)

通讯作者: 李松 E-mail: 2451505264@qq.com;lisong@sia.com

作者简介: 魏孝杰（1999—），男，硕士生，从事生物制造研究，E-mail: 2451505264@qq.com

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引用本文:

魏孝杰,梁文峰,朱慧轩,郭凯,高飞扬,尹震宇,李松. 基于Stewart并联机器人的皮肤生物3D打印方法研究[J]. 工程设计学报, 2025, 32(5): 590-600.

Xiaojie WEI,Wenfeng LIANG,Huixuan ZHU,Kai GUO,Feiyang GAO,Zhenyu YIN,Song LI. Study on the method of skin bio-3D printing based on Stewart parallel robot[J]. Chinese Journal of Engineering Design, 2025, 32(5): 590-600.

链接本文:

https://www.zjujournals.com/gcsjxb/CN/10.3785/j.issn.1006-754X.2025.05.140 或 https://www.zjujournals.com/gcsjxb/CN/Y2025/V32/I5/590

图1 Stewart并联机器人结构简图

图2 Stewart并联机器人坐标变换

图3 双喷头曲面皮肤打印系统组成

图4 打印系统工作空间求解流程

表1 Stewart并联机器人结构尺寸参数

图5 打印系统工作空间

图6 不同曲面角度下打印系统可打印范围

图7 打印系统打印仿真结果

图8 打印系统打印实验结果

图9 打印细胞死活染色结果

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