CN112936250B - Electrically-driven metal wire framework-spandex fiber twisting type composite artificial muscle and preparation method thereof - Google Patents
Electrically-driven metal wire framework-spandex fiber twisting type composite artificial muscle and preparation method thereof Download PDFInfo
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- CN112936250B CN112936250B CN202110309796.9A CN202110309796A CN112936250B CN 112936250 B CN112936250 B CN 112936250B CN 202110309796 A CN202110309796 A CN 202110309796A CN 112936250 B CN112936250 B CN 112936250B
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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
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/007—Means or methods for designing or fabricating manipulators
Abstract
The invention discloses an electrically-driven metal wire framework-spandex fiber twisted coil type composite artificial muscle and a preparation method thereof, wherein the preparation method comprises the following steps: a pretreatment stage: pre-stretching and pre-twisting spandex fiber bundles in sequence; a compounding stage: the pretreated spandex fiber bundle is rotated and twisted to be spirally wound on the surface of the metal wire, and the spandex fiber bundle is twisted to the limit number of turns under the condition that the length of the metal wire-spandex fiber composite structure is kept unchanged; a spiral forming stage: changing the fixed end of the metal wire-spandex fiber composite structure twisted to the limit number of turns into a movable end, adding a certain load, and continuing twisting to obtain a twisted coil type composite artificial muscle with a spiral spring structure; and (3) annealing training stage: the load of the movable end of the twisted and wound composite artificial muscle with the spiral spring structure is reduced, discontinuous current is loaded on the metal wire, so that the processes of joule heat heating and heat dissipation are repeatedly carried out until residual stress is eliminated, and the highest temperature of the generated joule heat heating is less than 130 ℃.
Description
Technical Field
The invention relates to the field of flexible driving of soft robots, in particular to an electrically-driven metal wire framework-spandex fiber twisted coil type composite artificial muscle and a preparation method thereof.
Background
Compared with the traditional rigid robot, the soft robot made of soft materials has safer human-computer interaction, can complete a plurality of tasks which cannot be completed by the rigid robot by utilizing the intrinsic softness, and is widely applied to the fields of medical treatment, transportation and the like. The soft robot is an extension of the robot category and plays a good supplementary role in the application of the traditional robot. Among them, the flexible driving technique (artificial muscle) is the core of the soft robot technique, and has become a popular research direction.
At present, the driving of the soft robot has three implementation forms: pneumatic artificial muscle driving; rope driving; artificial muscle drive based on smart materials. Among them, pneumatic artificial muscle driving and rope driving, although generating large stroke and output force, have the disadvantage that they require complicated and heavy rigid parts as supports. For example, pneumatic artificial muscle driving needs auxiliary equipment such as an air pump and an air bottle, and rope driving needs multiple groups of motors to control ropes, and the movement of the ropes has large friction force.
In order to solve the problems, the flexible actuator based on the smart material is obtained through certain structural design by utilizing the response of the smart material to specific stimulus. Currently, there are four categories:
1. temperature stimulus responsive shape memory alloy
2. Ion or pH stimulus responsive hydrogels
3. Voltage stimulus responsive dielectric elastomers
4. Polymer twisted roll type artificial muscle
When the shape memory alloy material is stimulated by temperature change, the internal metal structure can generate phase transformation (the martensite and the austenite are mutually transformed), so that the volume is changed, and the driving effect is generated. Current Joule heating is typically used to control deformation of the shape memory alloy actuator. The driver based on the shape memory alloy material has the advantages of large load, large required current, small deformation and slow response.
The intelligent hydrogel driving material induces the swelling or shrinkage of hydrogel through the matter exchange with the surrounding aqueous solution, thereby realizing the reversible change of the shape and achieving the driving effect. The advantage is that the drive is flexible, but the load is small and can only be effected in a liquid environment.
The structure of the dielectric elastomer driver is composed of an elastomer film with a large dielectric coefficient and positive and negative flexible electrodes on two sides. When the electrode is electrified, Maxwell stress is generated to extrude the elastic body, so that the elastic body is expanded on the surface and reduced in thickness. Its advantages are high response speed, high deformation, very high voltage and low output force.
The principle of the polymer twisted roll type artificial muscle is that twisted polymer fibers are heated and then expand radially to cause unwinding, and the unwinding motion of the fibers is converted into linear motion in the axial direction of a spiral by using a spiral structure, so that the polymer twisted roll type artificial muscle has the advantages of large deformation, large output force, low cost and the like.
Compared with shape memory alloys, smart hydrogels and dielectric elastomers, the polymer-twisted-coil artificial muscle has the best overall mechanical properties, while being inexpensive in material cost, typically a commercially available polymer fiber material (e.g., nylon fishing line, sewing line, etc.). Since polymer fibers are generally not electrically conductive, silver plating on the fiber surface or a resistance wire with winding is usually adopted for realizing electric driving. The state of the art for this type of artificial muscle: the silver plated nylon fiber material can achieve a maximum of 19% strain (about 200 ℃) under a 1.5N load. The stroke can be increased by increasing the spring coefficient (D/D) of the artificial muscle through a process of winding the mandrel, but the load capacity is greatly reduced. This greatly limits the application of such artificial muscles to soft robots.
Disclosure of Invention
Aiming at the technical problems and the defects in the field, the invention provides the preparation method of the electrically-driven metal wire framework-spandex fiber twisting type composite artificial muscle, and the advantages of regular geometric configuration, large driving stroke, large output force, low driving temperature and the like can be realized through the composition and configuration design of the metal wire and the spandex fiber. The prepared electrically-driven metal wire framework-spandex fiber twisted coil type composite artificial muscle has a regular geometric configuration, so that a mathematical model is conveniently established to guide design and predict deformation, the defects of the prior art are overcome, and the application of the electrically-driven metal wire framework-spandex fiber twisted coil type composite artificial muscle in a soft robot is promoted.
A preparation method of an electrically driven metal wire framework-spandex fiber twisting type composite artificial muscle comprises the following steps:
(1) a pretreatment stage: pre-stretching and pre-twisting spandex fiber bundles in sequence;
(2) a compounding stage: under the condition that one end is fixed, the other end of the spandex fiber bundle after the pretreatment is rotated and twisted to be spirally wound on the surface of a metal wire to form a metal wire-spandex fiber composite structure, and the metal wire-spandex fiber composite structure is twisted to the limit number of turns under the condition that the length of the metal wire-spandex fiber composite structure is kept unchanged;
(3) a spiral forming stage: changing the fixed end of the metal wire-spandex fiber composite structure twisted to the limit number of turns into the movable end, adding a certain load, and continuing twisting to obtain the twisted coil type composite artificial muscle with the spiral spring structure;
(4) and (3) annealing training stage: reducing the load of the movable end of the twisted coil type composite artificial muscle with the spiral spring structure, and loading discontinuous current on the metal wire so as to repeatedly carry out the processes of joule heat heating and heat dissipation until the residual stress is eliminated, thereby obtaining the electrically-driven metal wire framework-spandex fiber twisted coil type composite artificial muscle;
the maximum temperature at which joule heat heating occurs is less than 130 ℃.
Unlike nylon fibers, spandex fibers have excellent negative thermal expansion characteristics, which undergo greater shrinkage in the fiber direction when heated, but are super-stretchable fibers, which do not readily form a helical structure. In addition, the spandex fiber is not conductive (can not be electrically heated), the spandex fiber and the metal wire are compounded, the metal wire can be used as a framework structure to facilitate the spandex fiber to form a spiral structure on one hand, and can also be used as an electrical heating material on the other hand, so that the electrical drive of the compound artificial muscle is realized. Meanwhile, the metal framework can improve the rigidity of the composite artificial muscle and improve the load capacity.
In order to obtain the electrically-driven metal wire framework-spandex fiber twisting and rolling type composite artificial muscle with the special structure, the preparation method comprises a pretreatment stage, a composite stage, a spiral forming stage and an annealing training stage, wherein parameters determining the performance of the composite artificial muscle are all in the pretreatment stage of the step (1). Specifically, as shown in fig. 1, in the composite artificial muscle of the present invention, the metal wire is used as a skeleton structure, which can improve the rigidity, the pre-stretched spandex fiber is spirally wound on the surface of the metal wire after pre-twisting treatment, at this time, the length of the metal wire-spandex fiber composite structure is kept unchanged, the metal wire-spandex fiber composite structure is twisted to the limit number of turns, then the fixing device is released, the manufacturing load is suspended, and the twisting is continued, so that the twist coil type composite artificial muscle with the spiral spring structure is finally obtained. Because the preparation of the composite artificial muscle is carried out by twisting for many times, the inner part has larger residual stress, and annealing and training treatment are required to eliminate the residual stress before application. The invention adopts an electric heating mode to carry out annealing and training so as to ensure the consistency of performance and the stability of performance output. The annealing and training process is to fix the upper end of the artificial muscle, hang a training load at the lower end, and load discontinuous current on the metal wire.
In the step (1), the spandex fiber bundle is preferably formed by combining a plurality of spandex fibers in a bundling manner, so that the contraction force is improved, the diameter of a spiral spring structure is improved, the stroke magnification is improved, and the stroke of the composite artificial muscle is further improved.
In the step (1), the spandex fiber specification can be 140, 420, 840 or 1680denier, and the like.
In the step (1), the pre-stretching aims at improving the rigidity of the composite structure and the negative thermal expansion characteristic of spandex fibers, and the pre-twisting aims at improving the limit number of turns in the composite twisting stage through the pre-twisting, so that the output performance of the artificial muscle is further improved. The stretch ratio of the spandex fiber bundle is preferably not more than 500%. The number of pre-twisting turns is within an acceptable range, preferably not more than 0.4 r/mm.
In the step (2), the metal wire and the spandex fiber are twisted together to the limit number of turns, and the process can realize a composite structure that the spandex is spirally wound on the surface of the metal wire.
In the step (2), the metal wire can be a simple substance metal wire, such as an iron wire, a copper wire, an alloy wire, a nickel wire and the like, or an alloy wire, and the diameter is preferably 0.1-0.3 mm.
In the step (4), the annealing and training temperature should be lower than the maximum temperature that the material can bear, wherein the maximum temperature that the spandex fiber can bear is lower and is 130 ℃.
In the step (4), preferably, a direct current power supply is adopted to load discontinuous current on the metal wire.
In the step (4), the process of loading the discontinuous current on the metal wire comprises an annealing process and a training process, preferably, in the annealing process, the current is increased along with the increase of the number of times of electrification, and in the training process, the current is the maximum current in the annealing process and does not change along with the change of the number of times of electrification.
In step (4), the annealing training stage essentially comprises two processes: and (5) annealing and training. The difference between the two processes is that the annealing process takes one heating and one heat dissipation as a cycle, the temperature of the annealing heating determines the maximum driving temperature of the artificial muscle, and the mode that the electrifying current is gradually increased is adopted, so that the artificial muscle is mainly prevented from suddenly high temperature, the artificial muscle is instantly annealed and softened, the load below the artificial muscle is rapidly reduced, and the structure of the artificial muscle is damaged. The training process is to heat and radiate for many times after annealing, and the annealed muscle does not have severe softening phenomenon when being heated. The training process stabilizes muscle performance, which can be understood as the break-in period.
As a general inventive concept, the present invention also provides an electrically driven metal wire framework-spandex fiber twist-and-roll type composite artificial muscle, which comprises a metal wire-spandex fiber composite fiber of a spiral spring structure, wherein the metal wire-spandex fiber composite fiber comprises a metal wire used as a framework supporting structure and a spandex fiber bundle which is pre-stretched and pre-twisted and then spirally wound on the surface of the metal wire to be used as a thermal driving part.
In the field of twist-and-roll type artificial muscles, the composite artificial muscle structure of the invention is creative, and the structure determines that the composite artificial muscle has larger output force and output stroke than the traditional twist-and-roll type artificial muscle.
The electrically-driven metal wire framework-spandex fiber twisted coil type composite artificial muscle is preferably prepared by adopting the preparation method.
The electrically-driven metal wire framework-spandex fiber twisting type composite artificial muscle takes metal wires as a framework, and has a composite structure: one strand of pretreated spandex fiber is spirally wound on the metal wire framework, and the spandex is heated to shrink so as to lead the composite structure to be unscrewed and rotated. The heating unwinding screw driving of the composite structure is provided by the spandex fiber bundle which is positioned far away from the circle center, the farther the composite structure is away from the circle center, the larger the unwinding screw moment is, so that the composite artificial muscle has larger driving force, and meanwhile, the spandex fiber belongs to super-stretchable fiber and can ensure that the composite artificial muscle cannot break under the condition of bearing larger stretching deformation at the far away from the circle center. The metal wire in the electrically-driven metal wire framework-spandex fiber twisting type composite artificial muscle has the following functions: the skeleton structure is convenient for molding; as an electrical heating material; the rigidity (load capacity) is improved.
The working principle of the electrically-driven metal wire framework-spandex fiber twisting type composite artificial muscle is as follows: load the electric current of certain size at wire both ends and produce joule heat, the spandex tow of spiral winding on the wire surface is heated and is contracted in the fibre direction, and then leads to the composite fiber structure to produce and separates the spiral rotation, utilizes coil spring structure, will separate the spiral rotation and turn into the linear motion of coil spring axis. The spandex fiber belongs to super-stretchable fiber, is spirally wound on the outer ring of the composite structure, can bear larger stretching deformation without breaking, and can generate larger unwinding moment when heated to shrink due to the fact that the spandex fiber is located far away from the circle center, so that the composite artificial muscle can generate larger linear contraction motion stroke and contraction force.
Compared with the prior art, the invention has the main advantages that:
1) in the traditional silver-plated nylon fiber twisted-coil artificial muscle, the fiber unwinding motion is caused by radial thermal expansion of the fiber, the required temperature is high, the number of unwinding turns is small, and the unwinding torque is small; the traditional artificial muscle made of twisted and rolled spandex fibers cannot be electrically heated, and is not easy to form due to the fact that the spandex fibers are super-stretchable fibers, the manufactured artificial muscle is low in rigidity and cannot be electrically heated, and a mathematical model cannot be built due to irregular geometric configurations to predict deformation. The invention (metal wire framework-spandex composite artificial muscle) has regular geometric configuration and accurate mathematical model. The unwinding motion is directly generated by heating and shrinking of spandex fibers spirally wound on the metal framework, the unwinding moment is large, the number of unwinding turns is large, and the driving temperature is low (less than 130 ℃).
2) The traditional preparation process of the fiber-twisted artificial muscle is characterized in that the upper end of a fiber is fixed on a motor shaft, a manufacturing load is hung at the lower end of the fiber, the fiber is twisted by the rotation of a motor, the twisting is continued after the twisting reaches the limit number of turns, and the fiber spontaneously forms a spiral spring structure. In the twisting stage, the manufacturing load can increase the limit twist number so as to improve the output performance of the artificial muscle, but in the spiral forming stage, the manufacturing load is too large, so that the diameter of the spiral structure is reduced, and the stroke of the artificial muscle is reduced. In addition, excessive manufacturing loads can cause fiber breakage during twisting. So that the traditional process is difficult to customize the performance of the final artificial muscle.
The manufacturing process adopted by the invention separates the factors influencing the performance from the manufacturing and forming process. In the pretreatment stage, the number of spandex fibers, the number of pre-twisting turns, the pre-stretching times and the type of metal wires are determined, so that the limit twisting number and the diameter of a spiral structure of the composite fiber are directly determined, and the performance of the composite artificial muscle is decisive; and parameters influencing the performance of the composite artificial muscle are not introduced in the composite stage, the spiral forming stage and the annealing training stage.
Drawings
Fig. 1 is a schematic flow diagram of a pretreatment stage, a compounding stage and a spiral forming stage in a preparation method of an electrically-driven metal wire framework-spandex fiber twisting type composite artificial muscle, wherein: 1-motor, 2-prestretched spandex fiber, 3-metal wire, 4-pretwisted spandex fiber, 5-composite fiber, 6-composite artificial muscle, 7-fixing device and 8-load manufacturing;
FIG. 2 is a schematic structural view of the composite fiber 5 of FIG. 1;
fig. 3 is a schematic structural view of the composite artificial muscle 6 in fig. 1;
FIG. 4 is a photograph of an electrically driven metal wire skeleton-spandex fiber twist-and-roll type composite artificial muscle of the example;
fig. 5 is a schematic view of the working process of the electrically driven metal wire framework-spandex fiber twisting type composite artificial muscle of the embodiment, in which: 9-load, Hi represents the composite artificial muscle length when loaded 9 and not energized.
Detailed Description
The invention is further described with reference to the following drawings and specific examples. It should be understood that these examples are for illustrative purposes only and are not intended to limit the scope of the present invention. The following examples are conducted under conditions not specified, usually according to conventional conditions, or according to conditions recommended by the manufacturer.
As shown in fig. 1, the method for preparing an electrically driven metal wire framework-spandex fiber twisted coil type composite artificial muscle in the embodiment includes the steps of:
(1) a pretreatment stage: pre-stretching the spandex fiber bundle, then fixing one end of the pre-stretched spandex fiber 2, and pre-twisting the pre-stretched spandex fiber 2 under the action of a motor 1 at the other end.
(2) A compounding stage: under the condition that one end is fixed, the other end of the pre-twisted spandex fiber 4 is rotated and twisted to be spirally wound on the surface of the metal wire 3 to form a metal wire-spandex fiber composite structure, namely a composite fiber 5, as shown in figure 2, and the metal wire-spandex fiber composite structure is twisted to the limit number of turns under the condition that the length of the metal wire-spandex fiber composite structure is kept unchanged.
In the process of the above-mentioned composite stage, the pretreated spandex and the metal wire 3 are twisted together to the limit number of turns, and the structure obtained at this time is called a composite structure, and the configuration characteristics of the composite structure are as follows: the spandex fiber is spirally wound on the surface of the metal wire.
(3) A spiral forming stage: changing the fixed end of the metal wire-spandex fiber composite structure twisted to the limit number of turns from the fixing device 7 to the movable end and adding the manufacturing load 8, and continuing twisting to obtain the twisting and rolling type composite artificial muscle 6 with the spiral spring structure, as shown in fig. 3.
(4) And (3) annealing training stage: reducing the load of the movable end of the twisted coil type composite artificial muscle with the spiral spring structure, loading discontinuous current on the metal wire so as to repeatedly carry out the processes of joule heat heating and heat dissipation until the residual stress is eliminated, and obtaining the electrically-driven metal wire framework-spandex fiber twisted coil type composite artificial muscle, wherein a physical photograph is shown in figure 4;
the maximum temperature at which joule heat heating occurs is less than 130 ℃.
The intermittent current setting in step (4) was performed sequentially from top to bottom as described in table 1.
TABLE 1
The electrically-driven metal wire framework-spandex fiber twisting type composite artificial muscle of the embodiment is made of the following materials: the metal wires are shape memory alloy wires (SMA) with the diameter of 0.18mm, and the specification of the spandex fiber is 16 840denier fiber wires. In the pretreatment stage, the spandex fiber is pre-stretched by 230 percent and pre-twisted by 0.2 r/mm. In the compounding stage, the two materials are compounded and twisted to the limit number of turns of 0.87r/mm to form a composite structure of the spandex fiber spirally wound on the SMA framework. The upper end of the composite structure is fixed in the spiral forming stage, and the lower end of the composite structure is hung with 700g of manufacturing load and twisted to 0.22 r/mm. The twisting speed in the process is 1.5 r/s.
The working process of the electrically driven metal wire framework-spandex fiber twisting type composite artificial muscle of the embodiment is shown in fig. 5. The two ends of the SMA wire are connected with a direct current source, the upper end of the artificial muscle is fixed, the lower end of the artificial muscle is suspended with a load 9 of 200g, when the power source outputs constant 0.5A current, the metal wire is electrified to generate joule heat, the heat is transmitted to spandex fibers in a heat conduction mode, the spandex fibers are heated to shrink to cause the composite structure to unwind and rotate, and the unwinding rotation is converted into axial contraction motion of a spiral spring structure through a spiral structure. When electrified for 30s, the composite artificial muscle contracts 46.8% (delta/H) under the load of 200g i )。
Furthermore, it should be understood that various changes and modifications can be made by one skilled in the art after reading the above description of the present invention, and equivalents also fall within the scope of the invention as defined by the appended claims.
Claims (8)
1. A preparation method of an electrically driven metal wire framework-spandex fiber twisting type composite artificial muscle is characterized by comprising the following steps:
(1) a pretreatment stage: pre-stretching and pre-twisting spandex fiber bundles in sequence;
(2) a compounding stage: under the condition that one end is fixed, the other end of the spandex fiber bundle after the pretreatment is rotated and twisted to be spirally wound on the surface of a metal wire to form a metal wire-spandex fiber composite structure, and the metal wire-spandex fiber composite structure is twisted to the limit number of turns under the condition that the length of the metal wire-spandex fiber composite structure is kept unchanged;
(3) a spiral forming stage: changing the fixed end of the metal wire-spandex fiber composite structure twisted to the limit number of turns into the movable end, adding a certain load, and continuing twisting to obtain the twisted coil type composite artificial muscle with the spiral spring structure;
(4) and (3) annealing training stage: reducing the load of the movable end of the twisted coil type composite artificial muscle with the spiral spring structure, and loading discontinuous current on the metal wire so as to repeatedly carry out the processes of joule heat heating and heat dissipation until the residual stress is eliminated, thereby obtaining the electrically-driven metal wire framework-spandex fiber twisted coil type composite artificial muscle;
the maximum temperature for generating joule heat heating is less than 130 ℃;
the electrically-driven metal wire framework-spandex fiber twisting type composite artificial muscle comprises metal wire-spandex fiber composite fibers of a spiral spring structure, wherein the metal wire-spandex fiber composite fibers comprise metal wires serving as a framework supporting structure and spandex fiber bundles which are pre-stretched and pre-twisted and then spirally wound on the surfaces of the metal wires to serve as a heat driving part.
2. The production method according to claim 1, wherein in the step (1), the spandex fiber bundle is formed by combining a plurality of spandex fibers in a bundled manner.
3. The method of claim 1, wherein in step (1), the spandex fiber gauge is 140, 420, 840, or 1680 denier.
4. The process according to claim 1, wherein in the step (1), the spandex fiber bundle is stretched at a rate of not more than 500%.
5. The method according to claim 1, wherein in the step (2), the metal wire is an elemental metal wire or an alloy wire, and the diameter of the metal wire is 0.1-0.3 mm.
6. The method according to claim 1, wherein in the step (4), the discontinuous current is applied to the wire using a direct current power source.
7. The method according to claim 1, wherein the step (4) of applying the discontinuous current to the wire includes an annealing process in which the current is increased with the increase of the number of times of energization and a training process in which the current is the maximum current in the annealing process and is not changed with the change of the number of times of energization.
8. An electrically-driven metal wire framework-spandex fiber twisted coil type composite artificial muscle prepared by the preparation method according to any one of claims 1 to 7.
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| CN113463232A (en) * | 2021-06-25 | 2021-10-01 | 江苏大学 | Continuous automatic twisting and winding device and method for polymer fiber artificial muscle |
| CN114368001A (en) * | 2022-01-19 | 2022-04-19 | 江苏科技大学 | Soft gripper capable of being bent step by step and preparation method thereof |
| CN114474029B (en) * | 2022-02-16 | 2023-09-01 | 之江实验室 | High-frequency driven thermal response artificial muscle |
| CN114654500B (en) * | 2022-02-18 | 2023-08-22 | 江苏大学 | Preparation method of double-response carbon fiber-based mixed yarn artificial muscle driver |
| CN115890643B (en) * | 2022-12-15 | 2023-09-05 | 之江实验室 | Electric-driven artificial muscle fiber with bidirectional linear strain and preparation method thereof |
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| CN108115664A (en) * | 2017-12-21 | 2018-06-05 | 哈尔滨工业大学 | A kind of artificial-muscle having from sensing function |
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