CN109648545A - A kind of soft robot based on hydrogel driver - Google Patents
A kind of soft robot based on hydrogel driver Download PDFInfo
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- CN109648545A CN109648545A CN201910095627.2A CN201910095627A CN109648545A CN 109648545 A CN109648545 A CN 109648545A CN 201910095627 A CN201910095627 A CN 201910095627A CN 109648545 A CN109648545 A CN 109648545A
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- layer
- casing play
- fluid chamber
- hydrogel
- deformation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
Abstract
The present invention provides a kind of soft robot based on hydrogel driver, including casing play and deformation driving layer, it is equipped with intermediate course between bilayer deformation driving layer, the intermediate course is casing play；It is equipped with several mutually disconnected fluid chamber between every layer of deformation driving layer and the casing play, is filled by the fluid chamber to different location or withdrawing fluid, casing play is made to generate deformation.The material of the casing play is nanofiber hydrogel；The material of the deformation driving layer is dual network cross-linked hydrogel.The shape of fluid chamber is identical or different between the shape of fluid chamber and another layer deformation driving layer and the casing play between one layer of deformation driving layer and the casing play.The freedom degree variation on any direction can be achieved in the present invention, can complete more complicated posture changing.Compared to single layer structure, the double-layer structure in design can improve the stability and sensitivity of morphological transformation.
Description
Technical field
The present invention relates to the technical field of soft robot, in particular to a kind of software machine based on hydrogel driver
People.
Background technique
Soft robot is a newborn field, the molluscan contour structures or fortune of soft robot natural imitation circle
Dynamic model formula does not seldom even use conventional rigid material, by the rubber, silica gel, shape memory polymers that can bear to strain greatly completely
The flexible materials such as object, hydrogel are made, and rigidity is typically about 104~109Pa, corresponding with biological skin or musculature,
It can be in a wide range of interior contour structures or motor pattern for changing itself, to adapt to the height in the unstructured moving grids of changeable complexity
Effect movement.When grasp handling abnormity rapid wear object and biomimetic peristaltic, reversing, creeping, move about, jump, soft robot
The incomparable advantage of traditional robot is shown, the deficiency of traditional robot is greatly compensated for, causes domestic and foreign scholars
Extensive concern.
Hydrogel is that one kind polymerize the hydrophilic polymeric to form network gel by way of being physically or chemically crosslinked in water
Object, at the same can respond the different environmental stimulis in such as temperature, illumination, pH value, electric field or magnetic field change and recurring structure, physics
Or the variation such as chemical property.For hydrogel because of high-moisture, its beneficial characteristics such as flexibility, sensibility, ductility, safety can
Show the software biology of similar nature (all squids, jellyfish etc., tissue and organ are made of reactive transparent hydrogel)
Elasticity with deformable nature and receive an acclaim.
Currently, the hydrogel actuator of the deformation behavior research and development using intelligent aqueous gel under environmental stimuli emerges much
Research achievement, but the deficiency small there are driving force are studied, and is mainly based upon osmotic drive, is substantially low speed or low
Power.The present invention designs a kind of soft or hard soft sandwich structure soft robot based on hydrogel driver, it can be achieved that any side
Upward freedom degree variation, can complete more complicated posture changing.Soft or hard soft Sanming City compared to single layer structure, in design
The stability and sensitivity of morphological transformation can be improved by controlling structure.Due to anti-fatigue performance of the hydrogel under middle iso-stress, water-setting
Glue actuator and robot can keep its robustness and functionality in multiple actuation cycles.
Chinese invention patent discloses a kind of soft robot based on honeycomb pneumatic network, utilizes gas control in the patent
The deformation of pneumatic network processed achievees the effect that the continuous modification of soft robot.Honeycomb air bag utilizes polyethylene high score in the patent
Son is made, and has preferable rigidity, but application effect in an underwater environment is not as good as hydrogel actuator.The patent can be in X-axis Y
Axis direction carries out continuous modification, but is obviously short of in Z-direction deformability, and the present invention can perfectly solve the problems, such as this, real
The three-dimension varying of existing hydrogel.
Chinese invention patent discloses a kind of imitative frog travel robot based on the pneumatic software actuator driving of articulated type.It should
Mainly based on rigid material, bearing capacity and kinematic accuracy are higher for the design of the imitative frog travel robot main body mechanism of patent,
Structure is complicated, and volume and weight is bigger than normal, it is difficult to realize the lightweight and miniaturization of machine, progradation is larger by resistance, drop
The mobility of Di Liao robot operational process, and leakproofness is bad, is done soft at the problem of permeable phenomenon easily occurs using hydrogel
The basic material of body actuator can improve the performance of software actuator in water, and compared to the patent, hydrogel actuating
Device is more light small and exquisite, can flexibly realize the transformation of various postures.
Chinese invention patent discloses a kind of pneumatic compound bending software driver based on origami structure.The patent of invention
Upward and downward bending driving is realized by pneumatic origami structure, this kind of method is relatively stable, but since deformation layer is rigid
Spend larger, the deformations such as telescoping collapse are more difficult, therefore are limited in the case where loading larger environment；Simultaneously in front and rear, left and right side
To Bending Deformation be also unable to complete.The pneumatic software hydrogel actuator of this patent can complete Curved in a plurality of directions
Become, freedom degree is bigger compared with the patent.
Summary of the invention
For the deficiencies in the prior art, the present invention provides a kind of software machines based on hydrogel driver
People can complete more complicated posture changing, it can be achieved that the freedom degree on any direction changes.Compared to single layer structure, if
Double-layer structure in meter can improve the stability and sensitivity of morphological transformation.
The present invention achieves the above technical objects by the following technical means.
A kind of soft robot based on hydrogel driver, including casing play and deformation driving layer, bilayer deformation driving
It is equipped with intermediate course between layer, the intermediate course is casing play；Between every layer of deformation driving layer and the casing play
It is interior to be equipped with several mutually disconnected fluid chamber, it is filled by the fluid chamber to different location or withdrawing fluid, makes casing play
Generate deformation.
Further, the material of the casing play is nanofiber hydrogel；The material of the deformation driving layer is double nets
Network cross-linked hydrogel.
Further, one layer of deformation drives the shape and the change of another layer of fluid chamber between layer and the casing play
Shape drives the shape of fluid chamber between layer and the casing play identical or different.
Further, the shape of the fluid chamber is rectangular or spherical.
Further, every layer of fluid chamber's rectangular array arrangement or annular arrangement.
Further, the fluid chamber between one layer of deformation driving layer and the casing play and the deformation of another layer are driven
Fluid chamber between dynamic layer and the casing play is arranged symmetrically or interlaced arrangement.
Further, any fluid chamber is connected to separately through fluid conduit systems with fluid executing agency.
The beneficial effects of the present invention are:
1. the soft robot of the present invention based on hydrogel driver, hydrogel material are chosen so that this is soft
Body robot adapts to underwater environment.
2. the soft robot of the present invention based on hydrogel driver, the design of sandwich is so that the software causes
Dynamic device can be realized space three-dimensional deformation, and deformation process is more stable, efficient.
3. the fluid of the soft robot of the present invention based on hydrogel driver, multi-chamber composition drives network energy
So that the software actuator is completed more complicated mapping of freedom degree, has broken the limitation of two-dimensional surface driving, made it in three-dimensional
A series of transformation of postures can be flexibly completed in space.
Detailed description of the invention
Fig. 1 is the soft robot structural scheme of mechanism of the present invention based on hydrogel driver.
Fig. 2 is that deformation of the present invention drives layer schematic diagram.
Fig. 3 is the sectional view of the soft robot of the present invention based on hydrogel driver.
Fig. 4 is ball-shaped fluidic chamber schematic diagram of the present invention.
Fig. 5 is fluid chamber's Heterogeneous Permutation schematic diagram of the present invention.
Fig. 6 is that casing play longitudinal direction of the present invention first order buckling deforms schematic diagram.
Fig. 7 is the longitudinal bending deformation schematic diagram three times of casing play of the present invention.
Fig. 8 is the oblique primary deformation schematic diagram of casing play of the present invention
Fig. 9 is the schematic diagram of the real fluid chamber's rectangular array of the present invention.
In figure:
1- casing play；2- deformation driving layer；3- fluid chamber.
Specific embodiment
Present invention will be further explained with reference to the attached drawings and specific examples, but protection scope of the present invention is simultaneously
It is without being limited thereto.
As depicted in figs. 1 and 2, the soft robot of the present invention based on hydrogel driver, including 1 He of casing play
Deformation driving layer 2, bilayer deformation drive the intermediate course that is equipped between layer 2, and the intermediate course is casing play 1；It can be in figure
Find out, casing play 1 is clipped in the middle by two layers of deformation driving layer 2, is similar to soft or hard soft sandwich structure.The material of the casing play 1
Material is nanofiber hydrogel；The material of the deformation driving layer 2 is dual network cross-linked hydrogel.Nanofiber hydrogel
Composition casing play 1 can deformation occurs in any direction, cellulose aquagel has high resiliency, high tenacity, high sensitive etc.
Feature, deformation quantity maximum can reach 800%；The deformation driving layer 2 that dual network cross-linked hydrogel is constituted has preferable deformability,
It combines closely between every layer of dual network cross-linked hydrogel and nanofiber hydrogel.Casing play 1 has stronger than deformation driving layer 2
Rigidity, deformation driving layer 2 extensibility it is stronger.Casing play 1 and deformation driving 2 bonding connection of layer.
As shown in figure 3, being equipped with several mutually disconnected streams between every layer of deformation driving layer 2 and the casing play 1
Fluid chamber 3, any fluid chamber 3 is connected to separately through fluid conduit systems with fluid power arrangement, by different location
The fluid chamber 3 fill or withdrawing fluid, so that casing play 1 is generated deformation.The shape of the fluid chamber 3 is rectangular or hemispherical
Or semiellipse or other are close-shaped.The shape of fluid chamber 3 between one layer of deformation driving layer 2 and the casing play 1
The shape of fluid chamber 3 is identical or different between another layer deformation driving layer 2 and the casing play 1.Described in every layer
The arrangement of 3 rectangular array of fluid chamber or annular arrangement.As shown in figure 4, the fluid chamber 3 is the hemispherical of rectangular array.
Fluid chamber 3 and the deformation of another layer between one layer of deformation driving layer 2 and the casing play 1 drive layer
Fluid chamber 3 between 2 and the casing play 1 is arranged symmetrically or interlaced arrangement.As shown in figure 5, the fluid chamber 3 on upper layer with
3 interlaced arrangement of fluid chamber of lower layer.Fig. 1 is that the fluid chamber 3 on upper layer and the fluid chamber 3 of lower layer are arranged symmetrically.
As shown in Fig. 6 and Fig. 9, when the soft robot of the present invention based on hydrogel driver needs to carry out longitudinal direction
When first order buckling deforms, the fluid chamber 3 on upper layer need to extract part of fluid out, and the fluid chamber 3 of lower layer need to be filled with part stream
Body, specific manipulation is the fluid in extraction C1, C2, C3, C4, C5 top fluid chamber 3, to C1, C2, C3, C4, C5 lower layer fluid
Fluid is filled in chamber, fluid chamber 3 numbers as shown in Figure 9.The Fluid Volume extract out, being filled with is depending on Curved variable.Change
Become how much extraction, the arrangement mode and the Fluid Volume that are filled with 3 fluid of fluid chamber etc. can change nanofiber hydrogel
Different shape transformation, with achieve the effect that space three-dimensional convert.It can also be extracted out in each fluid chamber 3, be filled with difference
Fluid, to achieve the purpose that uneven deformation.
As shown in fig. 7, when the soft robot of the present invention based on hydrogel driver needs to carry out longitudinal direction three times
When bending deformation, concrete operations are that fluid is filled with into top fluid cavity C 1, C2, C3, C4, C5, extract top fluid chamber out
Fluid in A1, A2, A3, A4, A5, E1, E2, E3, E4, E5, downward laminar flow fluid chamber A1, A2, A3, A4, A5, E1, E2, E3,
It is filled with fluid in E4, E5, the fluid in fluid chamber, lower layer C1, C2, C3, C4, C5 is extracted out.
As shown in figure 8, when the soft robot of the present invention based on hydrogel driver need to carry out it is oblique primary
When deformation, concrete operations be extract out upper layer chamber C5, E4, D3 in fluid, to lower chamber B5, C4, C5, D3, D4, D5, E2,
Fluid is filled in E3, E4, E5.
In the present embodiment, the soft robot global shape based on hydrogel driver is square, and is done with facilitating
The displaying of three-dimensional motion.But casing play 1 is not limited only to square structure, can change its shape and structure according to the difference of the task of execution.
The material of the fluid conduit systems is dual network cross-linked hydrogel, and the fluid filled in fluid chamber 3 can be liquid
It is also possible to gas, the fluid power arrangement includes pump and valve group.
The embodiment is a preferred embodiment of the present invention, but present invention is not limited to the embodiments described above, not
In the case where substantive content of the invention, any conspicuous improvement that those skilled in the art can make, replacement
Or modification all belongs to the scope of protection of the present invention.
Claims (7)
1. a kind of soft robot based on hydrogel driver, which is characterized in that including casing play (1) and deformation driving layer
(2), it is equipped with intermediate course between double-deck deformation driving layer (2), the intermediate course is casing play (1)；Every layer of deformation
It drives between layer (2) and the casing play (1) and is equipped with several mutually disconnected fluid chamber (3), by different location
The fluid chamber (3) is filled or withdrawing fluid, and casing play (1) is made to generate deformation.
2. the soft robot according to claim 1 based on hydrogel driver, which is characterized in that the casing play
(1) material is nanofiber hydrogel；The material of deformation driving layer (2) is dual network cross-linked hydrogel.
3. the soft robot according to claim 1 based on hydrogel driver, which is characterized in that one layer of deformation
Drive between layer (2) and the casing play (1) shape of fluid chamber (3) and the deformation of another layer drive layer (2) with it is described
The shape of fluid chamber (3) is identical or different between casing play (1).
4. the soft robot according to claim 1 or 3 based on hydrogel driver, which is characterized in that the fluid
The shape of chamber (3) is rectangular or hemispherical.
5. the soft robot according to claim 1 or 3 based on hydrogel driver, which is characterized in that described in every layer
The arrangement of fluid chamber's (3) rectangular array or annular arrangement.
6. the soft robot according to claim 1 or 3 based on hydrogel driver, which is characterized in that described in one layer
Fluid chamber (3) and the deformation driving of another layer between deformation driving layer (2) and the casing play (1) is layer (2) and described
Fluid chamber (3) between casing play (1) is arranged symmetrically or interlaced arrangement.
7. the soft robot according to claim 1 based on hydrogel driver, which is characterized in that any fluid
Chamber (3) is connected to separately through fluid conduit systems with fluid executing agency.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910095627.2A CN109648545A (en) | 2019-01-31 | 2019-01-31 | A kind of soft robot based on hydrogel driver |
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| CN201910095627.2A CN109648545A (en) | 2019-01-31 | 2019-01-31 | A kind of soft robot based on hydrogel driver |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114773758A (en) * | 2022-04-29 | 2022-07-22 | 东华大学 | Vine-like nano composite hydrogel fiber actuator and preparation method and application thereof |
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Application publication date: 20190419 |
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