CN112440271B - Electric control bidirectional bending type composite artificial muscle - Google Patents
Electric control bidirectional bending type composite artificial muscle Download PDFInfo
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- CN112440271B CN112440271B CN202010438657.1A CN202010438657A CN112440271B CN 112440271 B CN112440271 B CN 112440271B CN 202010438657 A CN202010438657 A CN 202010438657A CN 112440271 B CN112440271 B CN 112440271B
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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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/1075—Programme-controlled manipulators characterised by positioning means for manipulator elements with muscles or tendons
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
Abstract
The invention belongs to the technical field of software robots, and relates to an electric control bidirectional bending type composite artificial muscle which comprises two functional layers, namely a first flexible electrode layer, a second composite electro-deformation layer, a second flexible electrode layer, a second composite electro-deformation layer and a third flexible electrode layer. The downward large-amplitude bending deformation can be realized by applying electric fields to the upper surface and the lower surface of the first composite electro-deformation layer and simultaneously introducing current to the electro-deformation fibers in the second composite electro-deformation layer; the upward large bending deformation can be realized by applying electric fields to the upper surface and the lower surface of the second composite electro-deformation layer and simultaneously introducing current to the electro-deformation fibers in the first composite electro-deformation layer. Compared with the existing artificial muscle, the invention can realize large-scale bending deformation upwards and downwards, is a three-dimensional block material, and has the advantages of simple structure, large deformation degree, various deformation modes and the like.
Description
Technical Field
The invention belongs to the field of soft robots, and relates to an electric control bidirectional bending type composite artificial muscle.
Background
As a typical representative of the novel soft intelligent material, shape memory polymers, electroactive polymers, electrostrictive fibers and the like gradually show inherent superiority, and compared with the traditional pneumatic artificial muscle, the soft intelligent material has the advantages of simple structure, quick response, miniaturization and the like.
Dielectric elastomer materials, which are typical representatives of electroactive polymers, are receiving attention from researchers due to their advantages of high energy density, large strain, light weight, and low cost. The dielectric elastomer is generally applied in the form of a film, a flexible electrode is coated on the surface of the dielectric elastomer, an electric field is applied, and under the Maxwell effect, the dielectric elastomer film shrinks along the thickness direction and expands in the plane direction. However, the simple deformation mode is difficult to meet the application requirements, and how to realize bending deformation is an urgent key problem. In recent years, some scholars have developed a dielectric elastomer material capable of bending deformation, such as Rosenthal M A of Stanford research institute, which designs a dielectric elastomer with a central shaft type structure, and the bending deformation is assisted by a spring; the Lijinrong and the like of the Harbin industry university design a dielectric elastomer with a roll type structure, and the dielectric elastomer is also compounded with a spring, so that the bending deformation of the artificial muscle is realized. However, the artificial muscles of the above types have the disadvantages of small bending deformation degree, single deformation mode, complex structure and poor durability, thereby limiting the application expansion. Therefore, it is necessary to design and develop an artificial muscle with large bending deformation, simple structure and strong durability.
The electro-deformable fiber material is mainly carbon nanotube fiber. The main advantages of the material as an artificial muscle material are low driving voltage, high tensile strength and high elastic modulus. Since 2012, researchers represented by the Baughman topic group at dallas university of texas, usa, made multi-walled carbon nanotubes into fibers to construct novel artificial muscles. Firstly, drawing a carbon nano tube array into a film, then stretching and spinning the film, and twisting the film in different modes in the stretching process to obtain the carbon nano tube spinning yarns with complex structures such as Archimedes spiral, double-Archimedes spiral, Fermat spiral and the like. Subsequently, the carbon nanotube yarn was composited with a guest material capable of volume change, which was capable of large deformation (shrinkage strain 7.3% at 2560 ℃) under the action of heat (electrothermal, photothermal). The Peng-Hui-Sheng team of the double-denier university adopts a dry spinning process to spin the oriented carbon nanotube array into oriented fibers, and when current is applied to the oriented fibers, the specific oriented spiral structure of the carbon nanotube fibers generates more remarkable shrinkage (2%) under the action of ampere force. Therefore, the artificial muscle material based on the carbon nano tube fiber can realize the contraction deformation along the length of the fiber and has the characteristics of high tensile strength and high elastic modulus.
In summary, the existing intelligent soft material applied to artificial muscles can only realize bending deformation to a small degree and has a single deformation mode, and the development of artificial muscles with large deformation and various deformation modes is urgently needed; in addition, the dielectric elastomer is usually in the form of a two-dimensional film, and the carbon nanotube fiber is in a one-dimensional fiber form, so how to construct a three-dimensional bulk artificial muscle is also a key problem to be solved urgently.
In order to solve the problems, the patent provides an electrically-controlled bidirectional bending type composite artificial muscle which is formed by compounding a dielectric elastomer and an electrostrictive fiber.
Disclosure of Invention
The invention aims to provide an electrically-controlled bidirectional bending type composite artificial muscle aiming at the existing technical defects so as to solve the problems that the existing artificial muscle is small in deformation degree, single in deformation mode and incapable of realizing three-dimensional blocking.
In order to solve the technical problems, the invention has the following conception:
and compounding the dielectric elastomer and the electrostrictive fibers to construct a composite electrostrictive layer, wherein the electrostrictive fibers are directionally distributed in the dielectric elastomer. The artificial muscle material is composed of an upper composite electro-deformation layer and a lower composite electro-deformation layer. When downward bending is needed to be achieved, voltage is applied to the upper composite electro-deformation layer, current is applied to the electro-deformation fibers in the lower composite electro-deformation layer, the dielectric elastic bodies in the upper composite electro-deformation layer drive the internal electro-deformation fibers to extend in the direction perpendicular to the electric field, and the lower composite electro-deformation fibers drive the dielectric elastic bodies to shrink in the axial direction. The deformation of the upper layer by extension and the lower layer by contraction can realize downward large-amplitude bending deformation of the artificial muscle; when upward bending is needed to be achieved, voltage is applied to the lower composite electro-deformation layer, meanwhile, current is applied to the electro-deformation fibers in the upper composite electro-deformation layer, at the moment, the dielectric elastomer in the lower composite electro-deformation layer drives the internal electro-deformation fibers to extend along the direction perpendicular to the electric field, and the upper composite electro-deformation fibers drive the dielectric elastomer to shrink along the axial direction. The deformation of the lower layer by extension and the upper layer by contraction can realize the upward large-scale bending deformation of the artificial muscle.
The technical scheme of the invention is as follows:
an electrically-controlled bidirectional bending type composite artificial muscle comprises a flexible electrode layer and a composite electro-deformation layer, wherein a first layer of flexible electrode 1, a first layer of composite electro-deformation layer 2, a second layer of flexible electrode 3, a second layer of composite electro-deformation layer 4 and a third layer of flexible electrode 5 are sequentially arranged from top to bottom;
the first layer of flexible electrode 1, the second layer of flexible electrode 3 and the third layer of flexible electrode 5 are made of materials including but not limited to coating carbon paste, a mixture of carbon nanotubes and an adhesive, a conductive polymer, conductive hydrogel and conductive silver paste.
The first composite electro-deformation layer 2 and the second composite electro-deformation layer 4 are both composite materials formed by dielectric elastomers and electro-deformation fibers, and the electro-deformation fibers are arranged in the dielectric elastomers in an oriented mode; the volume content of the electro-deformation fiber in the composite electro-deformation layer is 10-90%.
The dielectric elastomer includes but is not limited to silicon rubber, polyurethane, polyacrylate, fluorosilicone rubber, and silicon rubber filled with dielectric nano particles;
the electro-deformation fiber includes but is not limited to carbon nanotube fiber and conductive carbon fiber.
An electric field is applied between the first layer of flexible electrode 1 and the second layer of flexible electrode 3, and the first dielectric elastomer 6 in the first layer of composite electro-deformation layer 2 extends along the direction vertical to the electric field under the action of Maxwell effect, so that the first layer of composite electro-deformation layer 2 is driven to extend; meanwhile, current is introduced into the second electrostrictive fibers 8 in the second composite electrostrictive layer 4, so that the second electrostrictive fibers 8 shrink in the axial direction, and the second composite electrostrictive layer 4 is driven to shrink in the direction of directional fiber arrangement; the first composite electro-deformation layer 2 extends and the second composite electro-deformation layer 4 contracts, so that the electric control bidirectional bending type composite artificial muscle generates downward bending deformation;
on the contrary, an electric field is applied between the second layer of flexible electrode 3 and the third layer of flexible electrode 5, and the second dielectric elastomer 9 in the second layer of composite electro-deformable layer 4 extends along the direction vertical to the electric field under the action of Maxwell effect, so as to drive the second layer of composite electro-deformable layer 4 to extend; meanwhile, current is introduced into the first electrostrictive fibers 7 in the first composite electrostrictive layer 2, so that the first electrostrictive fibers 7 shrink in the axial direction, and the first composite electrostrictive layer 2 is driven to shrink in the direction of directional fiber arrangement; the second composite electro-deformation layer 4 extends and the first composite electro-deformation layer 2 contracts, so that the electric control bidirectional bending type composite artificial muscle generates upward bending deformation.
The invention has the beneficial effects that: compared with the existing artificial muscle, the invention can realize large-scale bending deformation upwards and downwards, is a three-dimensional block material, and has the advantages of simple structure, large deformation degree, various deformation modes and the like.
Drawings
Fig. 1 is a schematic structural view of the electric control bidirectional bending type composite artificial muscle.
Fig. 2 is a schematic view of the principle of downward bending of the electrically controlled bidirectional bending type composite artificial muscle of the invention.
Fig. 3 is a schematic diagram of the principle of upward bending of the electrically controlled bidirectional bending type composite artificial muscle.
In the figure: 1 a first layer of flexible electrodes; 2 a first composite electro-deformable layer; 3 a second layer of flexible electrodes; 4 a second composite electro-deformable layer; 5 a third layer of flexible electrodes; 6 a first dielectric elastomer; 7 a first electro-deformable fiber; 8 a second electro-deformable fiber; 9 a second dielectric elastomer.
Detailed Description
The following further describes a specific embodiment of the present invention with reference to the drawings and technical solutions.
As shown in fig. 1, the structure of the electrically-controlled bidirectional bending type composite artificial muscle comprises a flexible electrode layer and a composite electro-deformation layer,
1) the electric control bidirectional bending type composite artificial muscle sequentially comprises a first layer of flexible electrode 1, a first layer of composite electro-deformation layer 2, a second layer of flexible electrode 3, a second layer of composite electro-deformation layer 4 and a third layer of flexible electrode 5 from top to bottom;
2) the first layer of flexible electrode 1, the second layer of flexible electrode 3 and the third layer of flexible electrode 5 are made of a mixture of carbon nanotubes and an adhesive;
3) the first composite electro-deformable layer 2 is a composite material consisting of a first dielectric elastomer 6 and a first electro-deformable fiber 7; the second composite electro-deformable layer 4 is a composite material formed by a second dielectric elastomer 9 and a second electro-deformable fiber 8; the first electro-deformable fibers 7 are aligned in the first dielectric elastomer 6 and the second electro-deformable fibers 8 are aligned in the second dielectric elastomer 9; the volume content of the first electro-deformable fiber 7 in the first composite electro-deformable layer 2 is 10% -90%, and the volume content of the second electro-deformable fiber 8 in the second composite electro-deformable layer 4 is 10% -90%.
4) The first dielectric elastomer 6 and the second dielectric elastomer 9 are polyacrylates;
5) the electro-deformable fibers 7 and the second electro-deformable fibers 8 are carbon nanotube fibers.
As shown in fig. 2, the implementation process of the downward bending deformation of the electrically controlled bidirectional bending type composite artificial muscle is as follows: an electric field is applied between the first layer of flexible electrode 1 and the second layer of flexible electrode 3, and the first dielectric elastomer 6 in the first layer of composite electro-deformation layer 2 extends along the direction vertical to the electric field under the action of Maxwell effect, so that the first layer of composite electro-deformation layer 2 is driven to extend; meanwhile, current is introduced into the second electrostrictive fibers 8 in the second composite electrostrictive layer 4, so that the second electrostrictive fibers 8 shrink in the axial direction, and the second composite electrostrictive layer 4 is driven to shrink in the direction of directional fiber arrangement; because the first composite electro-deformation layer 2 extends and the second composite electro-deformation layer 4 contracts, the electric control bidirectional bending type composite artificial muscle generates downward bending deformation.
As shown in fig. 3, the upward bending deformation of the electrically controlled bidirectional bending type composite artificial muscle is implemented as follows: an electric field is applied between the second layer of flexible electrode 3 and the second layer of flexible electrode 5, and the second dielectric elastomer 9 in the second layer of composite electro-deformation layer 4 extends along the direction vertical to the electric field under the action of Maxwell effect, so that the second layer of composite electro-deformation layer 4 is driven to extend; meanwhile, current is introduced into the first electrostrictive fibers 7 in the first composite electrostrictive layer 2, so that the first electrostrictive fibers 7 shrink in the axial direction, and the first composite electrostrictive layer 2 is driven to shrink in the direction of directional fiber arrangement; the second composite electro-deformation layer 4 extends and the first composite electro-deformation layer 2 contracts, so that the electric control bidirectional bending type composite artificial muscle generates upward bending deformation.
Claims (5)
1. An electric control bidirectional bending type composite artificial muscle is characterized by comprising a flexible electrode layer and a composite electric deformation layer, wherein a first layer of flexible electrode (1), a first layer of composite electric deformation layer (2), a second layer of flexible electrode (3), a second layer of composite electric deformation layer (4) and a third layer of flexible electrode (5) are sequentially arranged from top to bottom;
the first composite electro-deformation layer (2) and the second composite electro-deformation layer (4) are both composite materials formed by dielectric elastomers and electro-deformation fibers, and the electro-deformation fibers are arranged in the dielectric elastomers in an oriented mode;
an electric field is applied between the first layer of flexible electrode (1) and the second layer of flexible electrode (3), and the first dielectric elastomer (6) in the first layer of composite electro-deformation layer (2) extends along the direction vertical to the electric field under the action of Maxwell effect, so that the first layer of composite electro-deformation layer (2) is driven to extend; meanwhile, current is introduced into the second electrostrictive fibers (8) in the second composite electrostrictive layer (4), so that the second electrostrictive fibers (8) shrink along the axial direction, and the second composite electrostrictive layer (4) is driven to shrink along the fiber directional arrangement direction as a whole; the first composite electro-deformation layer (2) is extended, and the second composite electro-deformation layer (4) is contracted, so that the electric control bidirectional bending type composite artificial muscle is bent and deformed downwards;
on the contrary, an electric field is applied between the second layer of flexible electrode (3) and the third layer of flexible electrode (5), and the second dielectric elastomer (9) in the second layer of composite electro-deformation layer (4) extends along the direction vertical to the electric field under the action of Maxwell effect, so that the second layer of composite electro-deformation layer (4) is driven to extend; meanwhile, current is introduced into the first electrostrictive fibers (7) in the first composite electrostrictive layer (2), so that the first electrostrictive fibers (7) shrink along the axial direction, and the first composite electrostrictive layer (2) is driven to shrink along the fiber directional arrangement direction as a whole; the second composite electro-deformation layer (4) is stretched and the first composite electro-deformation layer (2) is contracted, so that the electric control bidirectional bending type composite artificial muscle is bent upwards;
the dielectric elastomer is silicon rubber, polyurethane, polyacrylate, fluorosilicone rubber or silicon rubber filled with dielectric nano particles.
2. The electrically controlled bidirectionally curved composite artificial muscle according to claim 1, wherein said electrically deformable fibers are present in the composite electrically deformable layer in an amount of 10% to 90% by volume.
3. The electrically controlled bidirectionally curved composite artificial muscle according to claim 1 or 2, wherein the first layer of flexible electrode (1), the second layer of flexible electrode (3) and the third layer of flexible electrode (5) are made of a material selected from the group consisting of a carbon paste, a mixture of carbon nanotubes and a binder, a conductive polymer, a conductive hydrogel and a conductive silver paste.
4. The electrically controlled bidirectionally curved composite artificial muscle according to claim 1 or 2, wherein said electrically deformable fibers are carbon nanotube fibers or conductive carbon fibers.
5. The electrically controlled bidirectionally curved composite artificial muscle according to claim 3, wherein said electrically deformable fibers are carbon nanotube fibers or conductive carbon fibers.
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| CN113452280B (en) * | 2021-06-04 | 2023-03-21 | 西安交通大学 | Swing type actuator utilizing elastic modulus gradient and composite electret elastomer |
| CN117532596B (en) * | 2024-01-08 | 2024-04-23 | 之江实验室 | Artificial muscle fiber bundling device and method with multiple movement modes |
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