Study on a Novel Voxel-Based 3D Printing Method on Magnetic-Controlled Memory Fluid*

Combining the “programmable” characteristics of smart materials with 3D printing technology can realize the integration of structural design and manufacturing. Magnetic controlled smart fluid owns the characteristics of flexible solid-liquid transformation, high driving efficiency and high safety. Soft robot driven by magnetic controlled intelligent fluid can realize a bionic movement similar to that of single-celled organisms. In this paper, we propose a reversible 3D printing method of magnetic phase transformation using a similar mechanism of sol-gel transformation in protoplasm. A magnetically controlled Pickering emulsion system with strong thixotropic properties was constructed and its microscopically self-assembled structure was characterized. The yielding and memory recovery characteristics of the magnetic-controlled memory fluid (MMF) were studied by means of steady-state and dynamic shear measurement, and the optimal rheological parameters suitable for printing were determined. A 3D printing platform and a memory elimination platform for coordinated control of magnetic field and motion system were built to further study and optimize the printing process. Finally, the composite structure is controlled by an array magnetic field to realize an amoeba-like motion. Novel voxel-based 3D printing and its application in soft robots can provide new ideas for space exploration, biomedicine, military reconnaissance and many other fields.