CN110757434B - Artificial muscle based on dielectric elastomer and intelligent fluid with adjustable rigidity and manufacturing method thereof - Google Patents
Artificial muscle based on dielectric elastomer and intelligent fluid with adjustable rigidity and manufacturing method thereof Download PDFInfo
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- CN110757434B CN110757434B CN201911076288.XA CN201911076288A CN110757434B CN 110757434 B CN110757434 B CN 110757434B CN 201911076288 A CN201911076288 A CN 201911076288A CN 110757434 B CN110757434 B CN 110757434B
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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
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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
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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
- B25J9/0015—Flexure members, i.e. parts of manipulators having a narrowed section allowing articulation by flexion
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Abstract
The invention discloses an artificial muscle based on a dielectric elastomer and intelligent fluid with adjustable rigidity and a preparation method thereof. The artificial muscle comprises a deformation structure and a rigidity adjusting structure, the deformation structure comprises a dielectric elastomer film, the rigidity adjusting structure comprises electrorheological fluid filled in a sealed cavity, the sealed cavity is combined with the deformation structure, and the dielectric elastomer film and the electrorheological fluid are both electrically combined with the flexible electrode. The artificial muscle provided by the invention is formed by fully utilizing different reaction mechanisms presented by two materials, namely the dielectric elastomer and the intelligent fluid with adjustable rigidity, in the face of electric field stimulation and integrating respective advantages, has the advantages of simple structure, small and compact size, flexible response, capability of being used in air environment and liquid environment, capability of realizing bidirectional multi-angle bending movement, capability of conveniently and steplessly adjusting and controlling rigidity, easiness in preparation and wide application prospect in various fields.
Description
Technical Field
The invention relates to an artificial muscle, in particular to an artificial muscle based on a dielectric elastomer and an intelligent fluid with adjustable rigidity and a preparation method thereof, and belongs to the field of bionic intelligent materials and structures.
Background
The artificial muscle is a novel intelligent polymer material, can stretch, bend, tighten or expand under an external electric field through the change of the internal structure of the material, and has a behavior close to that of real muscle fiber. The materials used for preparing artificial muscles at present are piezoelectric materials, high molecular liquid crystal materials, nylon yarn materials, polymer materials, natural rubber materials and the like. Among them, a polymer dielectric elastomer behaves as contracting in the direction of electric field lines while expanding in the direction perpendicular to the electric field lines when exposed to an electric field, and this phenomenon is called maxwell stress. The performance behavior is similar to the contraction of muscles, and the dielectric elastomer has the advantages of large deformation, high electromechanical conversion rate, low manufacturing cost and the like, so the dielectric elastomer is widely applied to artificial muscles. However, artificial muscles made of such dielectric elastomers cannot adjust stiffness. The existing pneumatic artificial muscle with adjustable rigidity generally obtains a power source by compressing air, but a pump providing energy has a relatively large occupied area and is not suitable for remote movement, and when the air moves at a low speed, the low-speed stability of the air is poor and the air is not easy to be accurately controlled. The hydraulic artificial muscle has similar working principle and similar defects as the traditional pneumatic artificial muscle.
Disclosure of Invention
The invention mainly aims to provide an artificial muscle based on a dielectric elastomer and an intelligent fluid with adjustable rigidity and a preparation method thereof, so as to overcome the defects in the prior art.
In order to achieve the purpose, the technical scheme adopted by the invention comprises the following steps:
the embodiment of the invention provides an artificial muscle based on a dielectric elastomer and intelligent fluid with adjustable rigidity, which comprises a deformation structure and a rigidity adjusting structure, wherein the deformation structure comprises a dielectric elastomer film, the rigidity adjusting structure comprises electrorheological fluid filled in a sealed cavity, the sealed cavity is combined with the deformation structure, and the dielectric elastomer film and the electrorheological fluid are electrically combined with a flexible electrode.
In some embodiments, at least a partial region of at least one of the flexible electrodes further forms a partial wall of the cavity and is in electrical contact with the electrorheological fluid filled in the cavity.
In some embodiments, the deformation structure includes a first deformation structure and a second deformation structure, the stiffness adjustment structure is disposed between the first deformation structure and the second deformation structure, the first deformation structure includes a first dielectric elastomer film, a first flexible electrode and a second flexible electrode are respectively attached to surfaces of two sides of the first dielectric elastomer film, a third flexible electrode and a fourth flexible electrode are respectively attached to surfaces of two sides of the second dielectric elastomer film, the stiffness adjustment structure further includes a dielectric elastomer support structure, and the second flexible electrode and the third flexible electrode, which are disposed opposite to each other, cooperate with the dielectric elastomer support structure to form the cavity.
In some embodiments, the first flexible electrode, the second flexible electrode, the third flexible electrode, and the fourth flexible electrode can each be electrically connected to an external power source through a wire.
The artificial muscle can be bent in a bidirectional and multi-angle mode by regulating and controlling the voltage applied to the four electrodes, and the artificial muscle can work in air and liquid.
In some embodiments, the dielectric elastomer support structure has a frame-shaped structure, and the second flexible electrode, the third flexible electrode and the frame-shaped structure are sealed to enclose the cavity.
In some embodiments, the outer surface of the deformation structure is further covered with an insulating protective layer. Namely, the surface of the artificial muscle can be covered with an insulating protective layer. The insulating protective layer may be made of polydimethylsiloxane, and the like, but is not limited thereto.
The embodiment of the invention also provides a manufacturing method of the artificial muscle based on the dielectric elastomer and the intelligent fluid with adjustable rigidity, which comprises the following steps:
providing a dielectric elastomer film, and arranging at least one flexible electrode on the surface of the dielectric elastomer film so as to form a deformation structure;
and manufacturing a cavity combined with the deformation structure, and filling an electrorheological fluid in the cavity to form a rigidity adjusting structure, wherein the electrorheological fluid is electrically contacted with at least one flexible electrode.
In some embodiments, the manufacturing method specifically includes:
providing a first dielectric elastomer film, and respectively arranging a first flexible electrode and a second flexible electrode on the surfaces of two sides of the first dielectric elastomer film so as to form a first deformation structure;
providing a second dielectric elastomer film, and respectively arranging a third flexible electrode and a fourth flexible electrode on the surfaces of two sides of the second dielectric elastomer film so as to form a second deformation structure;
manufacturing a dielectric elastomer supporting structure, combining the dielectric elastomer supporting structure with the second flexible electrode and the third flexible electrode which are arranged oppositely to each other to form a sealed cavity, and enabling at least partial areas of the second flexible electrode and the third flexible electrode to be used as walls of the sealed cavity;
and filling rheological fluid in the sealed cavity so as to form a rigidity adjusting structure.
In some embodiments, the manufacturing method further comprises: and taking a pre-stretched dielectric elastomer with the same area as the first deformation structure or the second deformation structure, and cutting the pre-stretched dielectric elastomer to form the dielectric elastomer supporting structure with the frame-shaped structure.
In some embodiments, the manufacturing method specifically includes:
cutting and removing a part with the area similar to that of the second flexible electrode or the third flexible electrode from the pre-stretched dielectric elastomer so as to form a frame-shaped structure;
bonding two open ends of the frame-shaped structure with the second flexible electrode and the third flexible electrode respectively so as to enclose and form the sealed cavity;
and injecting an electrorheological fluid into the sealed cavity, and filling the sealed cavity.
In some embodiments, the manufacturing method further comprises: and leading out wires from the first flexible electrode, the second flexible electrode, the third flexible electrode and the fourth flexible electrode for connecting a power supply.
The embodiment of the invention also provides a method for regulating and controlling the working mode of the artificial muscle, which comprises the following steps: and selectively electrically connecting one or more of the first flexible electrode, the second flexible electrode, the third flexible electrode and the fourth flexible electrode with a power supply so as to regulate and control the working mode of the artificial muscle.
Compared with the prior art, the artificial muscle provided by the invention is formed by fully utilizing different reaction mechanisms presented by two materials, namely the dielectric elastomer and the intelligent fluid with adjustable rigidity to electric field stimulation and integrating respective advantages, has the advantages of simple structure, small and compact size, flexible reaction, capability of realizing bidirectional multi-angle bending movement, capability of conveniently and steplessly adjusting and controlling rigidity, easiness in preparation and wide application prospect in various fields.
For a better understanding of the nature and technical aspects of the present invention, reference should be made to the following detailed description of the invention, taken in conjunction with the accompanying drawings, which are provided for purposes of illustration and description and are not intended to limit the invention.
Drawings
The technical solution and other advantages of the present invention will become apparent from the following detailed description of specific embodiments of the present invention, which is to be read in connection with the accompanying drawings.
Fig. 1 is a schematic structural diagram of an artificial muscle according to an exemplary embodiment of the present invention;
FIG. 2 is a side view of a shape-changing structure in an exemplary embodiment of the invention;
FIG. 3 is a schematic diagram of a stiffness adjustment structure provided in an exemplary embodiment of the present invention;
FIG. 4 is a schematic diagram of an operational state of an artificial muscle according to an exemplary embodiment of the present invention;
FIG. 5 is a schematic diagram of another operational state of an artificial muscle according to an exemplary embodiment of the invention;
FIG. 6 is a schematic diagram of another operational state of an artificial muscle according to an exemplary embodiment of the invention;
description of reference numerals: 1-deformation structure; 11-a dielectric elastomeric film; 12-a flexible electrode; 121-flexible electrode one; 122-flexible electrode two; 13-a wire; 131-a first lead; 132-conducting line two; 2-a stiffness adjustment structure; 21-a dielectric elastomer support; 22-electrorheological fluid.
Detailed Description
To further illustrate the technical means and effects of the present invention, the following detailed description is given with reference to the preferred embodiments of the present invention and the accompanying drawings.
In the description of the present invention, it should be understood that the terms "upper", "lower", "left", "right", "front", "rear", and the like indicate orientations or positional relationships based on orientations or positional relationships shown in the drawings, only for convenience of description and simplification of description, but not orientation limitations and specific positional relationships that components must have, and thus, are not to be construed as limitations of the present invention.
The invention mainly combines a contractible dielectric elastomer with electrorheological fluid which can be regulated and controlled by an electric field, wherein the electric energy of the dielectric elastomer is converted into kinetic energy under the excitation of the electric field, the favorable contractibility can perfectly match with the artificial muscle to move, and the electrorheological fluid is converted from liquid state to solid state under the excitation of the electric field, thereby further providing the controllable rigidity for the artificial muscle. The two materials are cooperated with the reaction mechanism of the electric field, so that respective advantages are exerted, and the artificial muscle with easily-regulated rigidity and sensitive reaction is realized.
Accordingly, an aspect of the embodiments of the present invention provides an artificial muscle combining a dielectric elastomer and an intelligent fluid with adjustable stiffness, including a deformation structure and a stiffness adjustment structure that are combined with each other, where the deformation structure includes a dielectric elastomer film, and flexible electrodes are respectively attached to surfaces on two sides of the dielectric elastomer film; the rigidity adjusting structure comprises electrorheological fluid which is filled in the sealed cavity.
In some embodiments, the stiffness-adjusting structure is disposed between two deforming structures.
In some embodiments, the stiffness adjusting structure further comprises a dielectric elastomer support, and the electro-rheological fluid is filled in the sealed cavity formed by the dielectric elastomer support and the flexible electrode.
In the present specification, the dielectric elastomer and the electrorheological fluid both have the characteristic of responding to an electric field, and have recoverability, and when the electric field disappears, the dielectric elastomer and the electrorheological fluid can recover to the original state.
Furthermore, the dielectric elastomer is a material which can deform under the excitation of an external electric field so as to perform energy conversion, is widely applied in the fields of bionics, biomedicine and the like, and has the advantages of large deformation, light weight, no noise and the like. The dielectric elastomer may be obtained by any publicly known means, for example, commercially available means.
In this specification, the dielectric elastomer drives the whole artificial muscle under the action of maxwell stress, and when the electric field disappears, the dielectric elastomer returns to the original shape and performs simulated muscle movement in a contraction and contraction process.
In the specification, the dielectric elastomer has the characteristic of high dielectric constant, has large electrostriction under Maxwell stress, and has excellent elasticity. Preferably, the dielectric elastomer can be pre-stretched according to conditions, and the pre-stretching direction and the pre-stretching multiple can be adjusted according to actual conditions. The dielectric elastomer suitable for use in the present invention may be selected from, but is not limited to, polyurethane elastomers, silicone, acrylates, and the like.
In the specification, the electrorheological fluid is used as an intelligent fluid, usually exists in a suspension form, can be converted into a liquid state and a solid state under the action of an electric field, is converted into a solid-like state when the electric field strength is higher than a certain threshold value, and is recovered into the original liquid state once the electric field strength is lower than the threshold value, so that the electrorheological fluid has wide application prospects in the fields of mechanical engineering, automobile engineering, control engineering and the like. The electrorheological fluid may be obtained by any means known in the public, for example, by a commercially available means.
Furthermore, the electrorheological fluid is a suspension liquid formed by mixing dielectric particles and insulating liquid, the yield stress, the viscosity and the elastic modulus of the electrorheological fluid can be changed along with the change of the applied electric field strength.
Further, in the embodiment of the present invention, the electrorheological fluid is encapsulated between the dielectric elastomers, and cures into a deformed shape when a voltage is applied.
Further, in the embodiment of the present invention, the flexible electrode may be electrically connected to a power source through a wire.
Further, in the embodiment of the present invention, the power source may be a dc power source, which may provide a voltage of 0-10KV, but is not limited thereto.
Referring to fig. 1-3, in a more specific embodiment of the present invention, an artificial muscle combining a dielectric elastomer and a smart fluid with adjustable stiffness comprises two deformable structures 1 and a stiffness adjusting structure 2, wherein the stiffness adjusting structure 2 is disposed between the two deformable structures 1.
The deformation structure 1 comprises a dielectric elastomer film 11, and a first flexible electrode 121 connected with a lead 131 and a second flexible electrode 122 connected with a lead 132 are respectively attached to the upper surface and the lower surface of the dielectric elastomer film 11.
The rigidity adjusting structure 2 comprises a dielectric elastomer support body 21 and an electrorheological fluid 22, wherein the electrorheological fluid is filled in a cavity formed by the dielectric elastomer support body 21 and the flexible electrode 12.
The dielectric elastomer support 21 and the dielectric elastomer film 11 may be made of the same material, so that the deformation structure 1 and the stiffness adjusting structure 2 have better compatibility.
In use, the wire 131 may be connected to the positive pole of a power source, and the wire 132 may be connected to the negative pole of the power source. And vice versa.
The artificial muscle provided by the embodiment can have a plurality of working modes, such as:
a first operating mode: referring to fig. 1, the flexible electrodes on the upper and lower surfaces of the stiffness adjusting structure 2 are electrically connected to a power supply through wires 131 and 132, and a voltage is applied to the electrorheological fluid, so that the viscosity of the electrorheological fluid 22 is increased, and the stiffness of the artificial muscle is increased. And the stiffness of the artificial muscle can be adjusted by changing the magnitude of the applied voltage.
A second working mode: referring to fig. 4, the right lead 131, the right lead 132 and the left lead 131 are electrically connected to a power source, and a voltage is applied to the right dielectric elastomer film 11 and the electrorheological fluid 22, so that the right dielectric elastomer film 11 is relaxed to bend the artificial muscle to the left; meanwhile, the yield strength of the electrorheological fluid 22 is increased, and the rigidity of the artificial muscle is improved. The bending angle and the rigidity of the artificial muscle can be adjusted by changing the magnitude of the applied voltage.
The third working mode is as follows: referring to fig. 5, the left wire 131, the left wire 132 and the right wire 132 are electrically connected to a power source, a voltage is applied to the left dielectric elastomer film 11 and the electrorheological fluid 22, and the left dielectric elastomer film 11 is relaxed, so that the artificial muscle is bent to the right; meanwhile, the viscosity of the electrorheological fluid 22 is increased, and the rigidity of the artificial muscle is improved. The bending angle and the rigidity of the artificial muscle can be adjusted by changing the magnitude of the applied voltage.
The fourth working mode: referring to fig. 6, the left lead 131, the left lead 132, the right lead 131 and the right lead 132 are electrically connected to a power source, a voltage is applied to the left dielectric elastomer film 11 and the right dielectric elastomer film 11, the left dielectric elastomer film 11 and the left dielectric elastomer film 11 relax simultaneously, and the artificial muscle stretches along the Y axis and the Z axis of the coordinate system in fig. 6; meanwhile, the electrorheological fluid 22 is applied with voltage, the viscosity of the electrorheological fluid 22 is increased, and the rigidity of the artificial muscle is improved. The elongation ratio and the rigidity of the artificial muscle can be adjusted by changing the magnitude of the applied voltage.
The artificial muscle provided by the embodiment of the invention combines the dielectric elastomer and the electrorheological fluid, gives full play to respective advantages of the dielectric elastomer and the electrorheological fluid, and can effectively solve the defects of large driving volume, complex structure and the like of the traditional artificial muscle, wherein the action mechanism of contraction of the dielectric elastomer and solid-liquid transformation of the electrorheological fluid is matched to almost completely simulate the behavior of the muscle, and the dielectric elastomer which is soft in texture and easy to stretch is used as muscle fiber, so that the dielectric elastomer has very good elasticity, can meet repeated stretching reciprocating motions, and can also be used as a shell for protecting the intrinsic electrorheological fluid, and the shape of the artificial muscle is ensured to be maintained in a circulation test. Under the action of an electric field, the artificial muscle provided by the embodiment of the invention has sensitive response speed due to an electrorheological effect, and can realize contraction, relaxation and bidirectional multi-angle bending motion of human muscles by means of continuous and stepless regulation and control of the electric field under the electrostatic breakdown voltage.
In conclusion, the embodiment of the invention fully utilizes the electrorheological effect, can realize the stepless regulation and control of the stiffness of the artificial muscle by changing the electric field intensity, and utilizes the synergistic effect of the dielectric elastomer and the electrorheological fluid to ensure that the artificial muscle presents excellent comprehensive performance, simultaneously the artificial muscle is small and independent, does not need external pumps, air sources and other accessories, can be used in air environment and liquid environment, and has simple structure, easy preparation and low cost,
accordingly, another aspect of the embodiments of the present invention also provides a method of manufacturing the artificial muscle, which mainly includes:
providing a dielectric elastomer film, and arranging at least one flexible electrode on the surface of the dielectric elastomer film so as to form a deformation structure;
and manufacturing a cavity combined with the deformation structure, and filling an electrorheological fluid in the cavity to form a rigidity adjusting structure, wherein the electrorheological fluid is electrically contacted with at least one flexible electrode.
In some more specific embodiments of the present invention, such as for the artificial muscle shown in fig. 1-2, a suitable manufacturing method may include the steps of:
the invention also provides a preparation method of the artificial muscle combining the dielectric elastomer and the intelligent fluid with adjustable rigidity, which comprises the following steps:
(1) preparing a deformation structure 2: prestretching the dielectric elastomer film by 1-3 times, then attaching electrodes to the upper and lower surfaces of the dielectric elastomer film 11 by means of coating, sticking, pad printing, magnetron sputtering or the like to form a first flexible electrode 121 and a second flexible electrode 122, and leading out leads 131, 132 and the like for connecting a power supply;
(2) preparing the rigidity adjusting structure 2: taking a pre-stretched dielectric elastomer with the same area as the deformation structure, cutting and removing a part close to the area of the electrode to form a frame-shaped structure with a hollow inner cavity, and reserving the frame-shaped structure for filling the electrorheological fluid;
(3) the assembling structure comprises: covering a piece of rigid adjusting structure 2 manufactured in the step (2) on a piece of deformation structure 1 manufactured in the step (1), and bonding the lower surface of the rigid adjusting structure 2 with a flexible electrode one 131 of the deformation structure 1; then, covering the other deformation structure 1 manufactured in the step 1 on the rigidity adjusting structure 2, and bonding the upper surface of the rigidity adjusting structure 2 with the second flexible electrode 132 of the other deformation structure 1, so as to form a sealed cavity by enclosing the three parts; then covering an insulating protective layer on the outer surface of the deformation structure 1;
(4) loading electrorheological fluid: injecting electrorheological fluid into the sealed cavity by using an injector to fill the sealed cavity.
It is apparent that the artificial muscle provided by the previous embodiment of the invention is very simple and inexpensive to manufacture.
Some more specific embodiments of the invention are as follows. Unless otherwise specified, the following examples are given using various materials, for example, a dielectric elastomer film such as a polyurethane film, TiO and the like2Giant electrorheological fluids and the like are commercially available, and the adhesives, wires and the like used therein may be of conventional types, and various types of processing equipment, testing equipment and associated operating methods used therein are also known in the art.
Example 1: the artificial muscle provided by the embodiment has the structure shown in fig. 1-3, and the manufacturing method comprises the following steps:
(1) preparing a deformation structure: pre-stretching a polyurethane material film with the thickness of 2mm by 1 time on a single shaft, then coating a silicon rubber solution mixed with carbon powder on the upper surface and the lower surface of the polyurethane material film, drying to form a flexible electrode I and a flexible electrode II with the thickness of 20 microns, and leading out a lead for connecting a power supply;
(2) preparing a rigidity adjusting structure: pre-stretching a polyurethane material film with the same area and the thickness of 2mm for 1 time in a single shaft, cutting and removing a part which is close to the area of the flexible electrode I or the flexible electrode II to form a reserved cavity, and reserving for filling the electrorheological fluid;
(3) the assembling structure comprises: covering a piece of rigidity adjusting structure manufactured in the step 2 on a piece of deformation structure manufactured in the step 1, and bonding the lower surface of the rigidity adjusting structure with a first flexible electrode of the piece of deformation structure; then covering the other deformation structure manufactured in the step 1 on the rigidity adjusting structure, and bonding the upper surface of the rigidity adjusting structure with the second flexible electrode of the sheet deformation structure, so that the reserved cavity is sealed to form a sealed cavity; then covering a layer of polydimethylsiloxane solution on the outer surface of the deformation structure to form an insulating protective layer;
(4) loading electrorheological fluid: mixing TiO with syringe2The giant electrorheological fluid is injected into the sealed cavity to fill the cavity.
The working modes of the artificial muscle of the embodiment can also be various, for example:
referring to fig. 4 again, the right lead 131, the right lead 132 and the left lead 131 may be connected to a power source, and a voltage is applied to the right dielectric elastomer film 11 and the electrorheological fluid 22, so that the right dielectric elastomer film 11 is relaxed to bend the artificial muscle to the left; meanwhile, the yield strength of the electrorheological fluid 22 is increased, and the rigidity of the artificial muscle is improved. The bending angle and the rigidity of the artificial muscle are adjusted by changing the magnitude of the applied voltage. Power supply output voltage 6kV, TiO2The yield stress of the giant electrorheological fluid is increased to 30kPa, the artificial muscle bends 10 degrees to the left, the rigidity of the artificial muscle is improved, the output voltage is improved to 8kV, and TiO is added2The giant electrorheological fluid yield stress is increased to 51kPa, the artificial muscle is bent to the left side by an angle of 14 degrees, and the rigidity is further improved.
The right side lead 132 and the left side lead 131 can also be communicated with a power supply, the yield strength of the electrorheological fluid 22 is increased, and the artificial muscle is not deformed while the rigidity of the artificial muscle is improved.Power supply output voltage 2kV, TiO2The yield stress of the giant electrorheological fluid is increased to 9kPa, the rigidity of the artificial muscle is improved, the output voltage is improved to 10kV, and TiO2The giant electrorheological fluid yield stress is increased to 69kPa, and the artificial muscle rigidity is further improved.
Example 2:
the artificial muscle provided by the embodiment has the structure shown in fig. 1-3, and the manufacturing method comprises the following steps:
(1) preparing a deformation structure: uniaxially pre-stretching a 3M VHB material dielectric elastomer film with the thickness of 1mm by 2 times, then adhering polyacrylamide hydrogel electrodes prepared by mixing LiCl to the upper surface and the lower surface of the 3M VHB material dielectric elastomer film to form a first flexible electrode and a second flexible electrode which are 25um thick, and leading out a lead for connecting a power supply;
(2) preparing a rigidity adjusting structure: the method comprises the following steps of (1) performing uniaxial pre-stretching on a 3M VHB material dielectric elastomer film with the same area and thickness of 1mm by 2 times, cutting off a part similar to the area of an electrode to form a cavity, and reserving the cavity for filling electrorheological fluid;
(3) the assembling structure comprises: covering a piece of rigidity adjusting structure manufactured in the step 2 on a piece of deformation structure manufactured in the step 1, and bonding the lower surface of the rigidity adjusting structure with a first flexible electrode of the piece of deformation structure; then covering the other deformation structure manufactured in the step 1 on the rigidity adjusting structure, and bonding the upper surface of the rigidity adjusting structure with the flexible electrode II of the sheet deformation structure, so that the reserved cavity is sealed to form a sealed cavity; then covering a layer of polydimethylsiloxane solution on the outer surface of the deformation structure to form an insulating protective layer;
(4) loading electrorheological fluid: and injecting the CTO giant electrorheological fluid into the sealed cavity by using a syringe to fill the cavity.
The working modes of the artificial muscle of the embodiment can also be various, for example: referring to fig. 5 again, the left wire 131, the left wire 132 and the right wire 132 may be connected to a power source, and a voltage is applied to the left dielectric elastomer film 11 and the electrorheological fluid 22, so that the left dielectric elastomer film 11 is relaxed to bend the artificial muscle to the right; meanwhile, the viscosity of the electrorheological fluid 22 is increased, and the rigidity of the artificial muscle is improved. The bending angle and the rigidity of the artificial muscle are adjusted by changing the magnitude of the applied voltage. The output voltage of a power supply is 3kV, the yield stress of the CTO giant electrorheological fluid is increased to 35kPa, the artificial muscle bends to the right by 17 degrees, the rigidity of the artificial muscle is improved, the output voltage is improved to 4kV, the yield stress of the CTO giant electrorheological fluid is increased to 63kPa, the artificial muscle bends to the right by 22 degrees, and the rigidity of the artificial muscle is further improved.
Example 3: the artificial muscle provided by the embodiment has the structure shown in fig. 1-3, and the manufacturing method comprises the following steps:
(1) preparing a deformation structure: uniaxially pre-stretching a 3M VHB material dielectric elastomer film with the thickness of 1.5mm by 3 times, then adhering polyacrylamide hydrogel electrodes prepared by mixing LiCl to the upper surface and the lower surface of the 3M VHB material dielectric elastomer film to form a first flexible electrode and a second flexible electrode which are 25um thick, and leading out a lead for connecting a power supply;
(2) preparing a rigidity adjusting structure: pre-stretching a 3M VHB material dielectric elastomer film with the thickness of 1.5mm in the same area by 3 times in a single shaft manner, cutting and removing a part which is close to the area of an electrode to form a cavity, and reserving the cavity for filling the electrorheological fluid;
(3) the assembling structure comprises: covering a piece of rigidity adjusting structure manufactured in the step 2 on a piece of deformation structure manufactured in the step 1, and bonding the lower surface of the rigidity adjusting structure with a first flexible electrode of the piece of deformation structure; then covering the other deformation structure manufactured in the step 1 on the rigidity adjusting structure, and bonding the upper surface of the rigidity adjusting structure with the flexible electrode II of the sheet deformation structure, so that the reserved cavity is sealed to form a sealed cavity; then covering a layer of polydimethylsiloxane solution on the outer surface of the deformation structure to form an insulating protective layer;
(4) loading electrorheological fluid: and injecting the MMO giant electrorheological fluid into the sealed cavity by using an injector to fill the cavity.
The working modes of the artificial muscle of the embodiment can also be various, for example: referring to fig. 6 again, the left wire 131, the left wire 132, the right wire 131 and the right wire 132 are connected to a power source, a voltage is applied to the left dielectric elastomer film 11 and the right dielectric elastomer film 11, the left dielectric elastomer film 11 and the left dielectric elastomer film 11 are simultaneously relaxed, and the artificial muscle is stretched along the Y axis and the Z axis; meanwhile, the electrorheological fluid 22 is applied with voltage, the viscosity of the electrorheological fluid 22 is increased, and the rigidity of the artificial muscle is improved. The elongation ratio and the rigidity of the artificial muscle are adjusted by changing the magnitude of the applied voltage. The output voltage of the power supply is 4kV, the yield stress of the MMO giant electrorheological fluid is increased to 38kPa, the rigidity of the artificial muscle is improved, the output voltage is increased to 7kV, the yield stress of the MMO giant electrorheological fluid is increased to 66kPa, and the rigidity of the artificial muscle is further improved.
The above description is only for the disclosure of the present invention, but the scope of protection itself is not limited thereto. Various modifications and alterations to this invention will become apparent to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (5)
1. An artificial muscle based on a dielectric elastomer and intelligent fluid with adjustable rigidity is characterized by comprising a deformation structure and a rigidity adjusting structure;
the deformation structure comprises a dielectric elastomer film, the deformation structure comprises a first deformation structure and a second deformation structure, the rigidity adjusting structure is arranged between the first deformation structure and the second deformation structure, the first deformation structure comprises a first dielectric elastomer film, a first flexible electrode and a second flexible electrode are respectively attached to the surfaces of the two sides of the first dielectric elastomer film, the second deformation structure comprises a second dielectric elastomer film, a third flexible electrode and a fourth flexible electrode are respectively attached to the surfaces of the two sides of the second dielectric elastomer film, and the second flexible electrode and the third flexible electrode are arranged oppositely;
the rigidity adjusting structure comprises a dielectric elastomer supporting structure with a frame-shaped structure and electrorheological fluid filled in a sealed cavity, two open ends of the frame-shaped structure are respectively bonded with the second flexible electrode and the third flexible electrode so as to form the sealed cavity in an enclosing manner, and the electrorheological fluid is electrically contacted with the second flexible electrode and the third flexible electrode.
2. The artificial muscle according to claim 1, wherein: the first flexible electrode, the second flexible electrode, the third flexible electrode and the fourth flexible electrode can be electrically connected with an external power supply through leads.
3. A method for manufacturing artificial muscles based on dielectric elastomers and intelligent fluids with adjustable rigidity is characterized by comprising the following steps:
providing a first dielectric elastomer film, and respectively arranging a first flexible electrode and a second flexible electrode on the surfaces of two sides of the first dielectric elastomer film so as to form a first deformation structure;
providing a second dielectric elastomer film, and respectively arranging a third flexible electrode and a fourth flexible electrode on the surfaces of two sides of the second dielectric elastomer film so as to form a second deformation structure;
taking a pre-stretched dielectric elastomer with the same area as the first deformation structure or the second deformation structure, and cutting the pre-stretched dielectric elastomer to form a dielectric elastomer supporting structure with a frame-shaped structure;
combining the dielectric elastomer support structure with the second flexible electrode and the third flexible electrode which are arranged opposite to each other to form a sealed cavity, wherein at least partial areas of the second flexible electrode and the third flexible electrode are used as walls of the sealed cavity;
and filling electrorheological fluid in the sealed cavity, and enabling the electrorheological fluid to be in electrical contact with the second flexible electrode and the third flexible electrode so as to form a rigidity adjusting structure.
4. The method according to claim 3, comprising in particular:
cutting and removing a part with the area similar to that of the second flexible electrode or the third flexible electrode from the pre-stretched dielectric elastomer so as to form a frame-shaped structure;
bonding two open ends of the frame-shaped structure with the second flexible electrode and the third flexible electrode respectively so as to enclose and form the sealed cavity;
and injecting an electrorheological fluid into the sealed cavity, and filling the sealed cavity.
5. The method of claim 3, further comprising: and leading out wires from the first flexible electrode, the second flexible electrode, the third flexible electrode and the fourth flexible electrode for connecting a power supply.
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| CN111965728A (en) * | 2020-08-20 | 2020-11-20 | 昆明理工大学 | Underwater self-powered detection equipment |
| CN113119088B (en) * | 2021-04-08 | 2021-10-01 | 关春东 | Electric artificial muscle with three-dimensional and interactive stacked electrodes |
| CN113910212A (en) * | 2021-10-08 | 2022-01-11 | 北京化工大学 | Artificial muscle design and preparation method based on ultrasonic-assisted forced infiltration |
| CN114271958A (en) * | 2021-12-22 | 2022-04-05 | 大连医科大学 | Mouth cancer postoperative opening assistor |
| CN114750141B (en) * | 2022-04-29 | 2023-10-17 | 电子科技大学 | Dielectric elastomer artificial muscle based on laser carbonization and preparation method thereof |
| CN115960396B (en) * | 2022-12-01 | 2023-06-30 | 东北电力大学 | Preparation method and electric drive control method of bionic artificial muscle bundling structure |
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