CN113651988A - Elastic modulus adjustable driver film, preparation method and flexible driver - Google Patents
Elastic modulus adjustable driver film, preparation method and flexible driver Download PDFInfo
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- B25J15/08—Gripping heads and other end effectors having finger members
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Abstract
The invention discloses an elastic modulus adjustable driver film, a preparation method and a flexible driver. The elastic modulus adjustable driver film is prepared by taking an elastomer precursor, an initiator, a cross-linking agent and an organic solvent as raw materials, forming a film on a gas-liquid interface, and carrying out photoinitiated crosslinking in a mask or patterned printing and dyeing mode, and the elastic modulus of the driver film can be adjusted in a larger range by adjusting the addition amount of the raw materials and experimental parameters of photoinitiated crosslinking. The preparation method of the driver film with the adjustable elastic modulus is simple, raw materials are easy to obtain, the molding is not dependent on a mold, and the patterned area and the substrate area can show different driving behaviors under the same air pressure. The invention also discloses a flexible driver assembled by the driver film with adjustable elastic modulus, which has strong designability of structure, has rich and various gas-driven deformation behaviors, and can be applied to camouflage skins and full-soft hand grips.
Description
Technical Field
The invention relates to the field of pneumatic drivers, in particular to a driver film with adjustable elastic modulus, a preparation method and a flexible driver.
Background
The driving device with a rigid structure is widely researched by the traditional mechanical automation industry, however, the traditional rigid device is limited by the relatively fixed structure, so that the traditional rigid device cannot work in complex environments, is difficult to deal with fragile and vulnerable operating objects, and greatly reduces the universality of the application of the traditional rigid device. The soft driving device has a flexible external structure or even an internal structure, and the flexibility degree of the soft driving device is usually similar to that of biological tissues, so that the damage to an operation object can be reduced by virtue of the flexibility of the soft driving device in the use process, and the application range of the soft driving device is greatly widened. In recent years, the field of soft body robots has been developed vigorously, and there are many flexible sensors, flexible energy supply devices, etc. with different shapes and functions, among which, soft body drivers have also been studied extensively, and from the structural aspect, many soft body drivers do not have fully flexible structures, but are formed by combining rigid structures and flexible structures, and the structures are relatively complex, designability is poor, and from the economic benefit aspect, the soft body drivers in the current stage of research generally have the problem of complex preparation process, and are difficult to implement large-scale production.
Chinese patent publication No. CN211250043U discloses a soft driver, and particularly relates to a torsional contraction artificial muscle. The soft driver consists of an outer packaging layer, a fiber winding and an elastic body, and the twisting and the stretching deformation of the driver are carried out by utilizing the interaction of the fiber winding and the elastic body material under the driving of a working medium. But the fiber winding with rigid characteristics and the outer packaging layer in the driver have strong constraint on the inner-layer elastomer, and the free movement of the inner-layer elastomer is limited to a certain extent.
Chinese patent publication No. CN108688252B discloses a method for preparing a multi-stimulus responsive actuator film. The composite film has rapid and sensitive reversible bending deformation behavior under the stimulation conditions of light, heat, humidity and the like, but the multiple stimulation responsiveness of the composite film depends on the combined structure of the double-layer film.
Chinese patent publication No. CN110204850B discloses a block copolymer thermoplastic dielectric elastomer film and a dielectric actuator thereof. The invention carries out pre-stretching thermal relaxation treatment on the block copolymer thermoplastic dielectric elastomer to obtain the block copolymer thermoplastic dielectric elastomer film, and the driving performance or the anisotropy of the block copolymer thermoplastic dielectric elastomer film can be changed by controlling the pre-stretching mode and the pre-stretching degree. The dielectric elastomer film can be combined with the upper electrode and the lower electrode to form a dielectric driver.
Disclosure of Invention
The invention provides a preparation method of an elastic modulus adjustable driver film, which has the advantages of simple steps and easily obtained raw materials, does not depend on die forming, and the prepared elastic modulus adjustable driver film has a patterned region and a substrate region which have different characteristics.
The following two technical schemes are specifically adopted:
(1) blending an elastomer precursor, an initiator, a crosslinking agent and an organic solvent to obtain a pre-polymerization solution;
(2) coating the pre-polymerized liquid on a gas-liquid interface to be solidified into an elastomer film;
(3) and covering the elastomer film by using a mask, and carrying out photoinitiated crosslinking under ultraviolet light to prepare the driver film with adjustable elastic modulus.
In the method 1, the photo-induced cross-linking locally occurs on the film substrate, so that the patterned region of the driver thin film and the substrate region have different characteristics, wherein the patterned region is the region where the photo-induced cross-linking occurs, and the substrate region is the region covered by the mask and not where the photo-induced cross-linking occurs. The patterning of the modulus of elasticity adjustable driver membrane is achieved by masks of different shapes, and patterns that can be made include, but are not limited to: round, pentagram, letter shaped.
In the step (1), the elastomer precursor is Polydimethylsiloxane (PDMS) or aliphatic aromatic random copolyester (Ecoflex), and the addition amount is 0.05-0.4 g/mL; the initiator is 2-hydroxy-4' - (2-hydroxyethoxy) -2-methyl propiophenone; the cross-linking agent is N, N' -methylene bisacrylamide or ethylene glycol diacrylate; the organic solvent is toluene, n-hexane, n-heptane or acetone.
In the step (1), the addition amount of the initiator is 5-10 mg/mL; the addition amount of the cross-linking agent is 1-5 mg/mL.
In the step (2), the curing conditions are as follows: 20 to 100 ℃ for 0.5 to 24 hours.
In the step (3), the mask includes filter paper cut into different two-dimensional patterns, but is not limited thereto.
Preferably, in the step (3), the power of the ultraviolet light source is 10-200W, the distance between the ultraviolet light source and the elastomer film is 10-200 mm, and the included angle between the ultraviolet light illumination direction and the elastomer film is 10-90 degrees.
In the step (3), the photoinitiated crosslinking time is 0.01-3 h, insufficient crosslinking can be caused by too short time, the reaction time is increased by too long time, and the preparation efficiency of the driver film with adjustable elastic modulus is reduced.
Preferably, in the step (3), the photoinitiated crosslinking time is 0.5-3 h.
(1) blending an elastomer precursor and an organic solvent to obtain a mixed solution;
(2) coating the mixed solution on a gas-liquid interface and curing the mixed solution into a film;
(3) dissolving an initiator and a cross-linking agent in an organic solvent to form a printing dye, performing patterned printing and dyeing on the surface of the film by using the printing dye to obtain an elastomer film, and performing photo-initiated crosslinking under ultraviolet light to prepare the driver film with adjustable elastic modulus.
In method 2, photo-induced cross-linking also occurs locally on the membrane substrate, so that the actuator membrane has different properties in the patterned areas where photo-induced cross-linking occurs and in the substrate areas where photo-induced cross-linking does not occur, and patterning of the actuator membrane with adjustable elastic modulus is achieved by printing different patterns, which can be made including but not limited to: round, pentagram, letter shaped.
In the step (1), the elastomer precursor is Polydimethylsiloxane (PDMS) or aliphatic aromatic random copolyester (Ecoflex), and the addition amount is 0.05-0.4 g/mL; the organic solvent is toluene, n-hexane, n-heptane or acetone.
In the step (2), the curing conditions are as follows: 20 to 100 ℃ for 0.5 to 24 hours.
In the step (3), the initiator is 2-hydroxy-4' - (2-hydroxyethoxy) -2-methyl propiophenone; the cross-linking agent is N, N' -methylene bisacrylamide or ethylene glycol diacrylate.
In the step (3), the dyeing agent consists of 5-10 mg/mL of initiator and 1-10 mg/mL of cross-linking agent.
In the step (3), the patterned printing and dyeing method is to attach the patterned filter paper loaded with the printing and dyeing agent to the surface of the film, and remove the filter paper after a period of time, but is not limited thereto.
Preferably, in the step (3), the power of the ultraviolet light source is 10-200W, the distance between the ultraviolet light source and the elastomer film is 10-200 mm, and the included angle between the ultraviolet light illumination direction and the elastomer film is 10-90 degrees.
In the step (3), the photoinitiated crosslinking time is 0.01-3 h, insufficient crosslinking can be caused by too short time, the reaction time is increased by too long time, and the preparation efficiency of the driver film with adjustable elastic modulus is reduced.
Preferably, in the step (3), the photoinitiated crosslinking time is 0.5-3 h.
The invention also discloses the actuator film with adjustable elastic modulus, which is prepared by the preparation method of the actuator film with adjustable elastic modulus.
The elastic modulus can be adjusted, namely, the elastic modulus of the driver film can be adjusted in a larger range by adjusting the addition amount of raw materials and experimental parameters of photo-initiated crosslinking.
Preferably, in the method 1, when the addition amount of the initiator is 5mg/mL and the addition amount of the cross-linking agent is 1-5 mg/mL, the elastic modulus of the actuator film with adjustable elastic modulus in the patterned region is 0.32-20.32 MPa when the air pressure is 25Pa, and the elastic modulus of the substrate region is 0.15-1.45 MPa.
Preferably, in the method 2, when the dye printing agent is composed of 5mg/mL of initiator and 10mg/mL of cross-linking agent, the elastic modulus of the actuator film with adjustable elastic modulus in the patterned region is 0.45-15.42 MPa under 25Pa of air pressure, and the elastic modulus of the substrate region is 0.23-1.31 MPa.
The invention also discloses a flexible driver assembled by the driver film with adjustable elastic modulus, and the assembling method comprises the following steps: and adhering the actuator film with the adjustable elastic modulus to a pneumatic device to obtain the flexible actuator.
The invention also discloses application of the flexible driver in camouflaged skin and full-soft hand grips.
Because the elastic modulus of the actuator film with adjustable elastic modulus is different from that of the substrate region, after the actuator film is assembled into a flexible actuator, a certain air pressure is applied to the flexible actuator, the patterned region and the substrate region can generate different pneumatic driving behaviors, and the flexible actuator can generate a unique pneumatic deformation mode.
The flexible driver can be applied to various scenes, for example, the pattern is designed into a pentagram shape, and the flexible driver has the appearance similar to a five-petal flower after being pneumatically driven, so that the flexible driver can be used for disguising skin; if the flexible driver is designed into a shape of nesting multiple eccentric circular rings, the flexible driver can be bent after being pneumatically driven, and further the flexible driver can be applied to a full soft hand grip.
Compared with the prior art, the invention has the following advantages:
(1) the preparation method of the driver film with adjustable elastic modulus disclosed by the invention has the advantages of simple steps, easily obtained raw materials, no need of die forming and convenience for large-scale production.
(2) The elastic modulus of the patterned area of the elastic modulus-adjustable driver film prepared by the invention under the air pressure of 25Pa is 0.32-20.32 MPa, and the elastic modulus of the substrate area is 0.15-1.45 MPa.
(3) The elastic modulus adjustable driver thin film prepared by the invention has strong designability, and can locally generate photoinitiated crosslinking on a film substrate by designing different patterned regions, and the patterned regions and the substrate region have different properties, so that different driving behaviors are shown under the same air pressure, and the flexible driver with rich and various deformation capabilities is prepared.
(4) The flexible driver assembled by the driver film with adjustable elastic modulus has a full-soft structure, can reduce the damage to an operation object, and has strong environment adaptability.
Drawings
Fig. 1 is an external view of a flexible actuator prepared in example 1.
Fig. 2 is a stress-strain graph of patterned regions of actuator films with adjustable elastic modulus prepared in examples 1 and 2.
FIG. 3 is a driving behavior diagram of the flexible actuator prepared in example 1 under an air pressure of 5 to 50 Pa.
Fig. 4 is a driving behavior diagram of the flexible driver prepared in example 1 under an air pressure of 25 Pa.
Fig. 5 is a line graph showing the change of the included angle θ between the inner base region of the circular ring and the outer base region of the circular ring with the gas pressure during the gas driving process of the flexible driver prepared in example 1 and example 2.
FIG. 6 is a driving behavior diagram of the flexible actuator prepared in example 2 under an air pressure of 5 to 50 Pa.
FIG. 7 is a schematic diagram of a flexible actuator prepared in example 15, wherein A is an external view, B is an external view of the actuation behavior under an air pressure of 50Pa, and C is an external view of the actuation behavior under an air pressure of 50 Pa.
Detailed Description
Example 1
1) Design of the patterned region:
the designed patterned area is a ring with the width of 3mm, the outer diameter is 35mm, the inner diameter is 29mm, and a mask with a corresponding shape is cut by using filter paper.
2) Preparation of an elastic modulus adjustable driver film:
(1) 1.00g of Ecoflex00-30, 0.05g of initiator 2-hydroxy-4 '- (2-hydroxyethoxy) -2-methyl propiophenone, 0.05g of cross-linking agent N, N' -methylene bisacrylamide and 10mL of N-heptane are blended to prepare a pre-polymerization solution;
(2) coating the pre-polymerized solution on a gas-liquid interface, reacting for 2h at 20 ℃, curing to form an elastomer film, and cutting the film into a circle with the diameter of 70 mm;
(3) covering the elastomer film by using the mask cut in the step 1), carrying out photoinitiated crosslinking for 0.5h under 20W of ultraviolet light, wherein the included angle between the illumination direction of the ultraviolet light and the elastomer film is 45 degrees, the distance between an ultraviolet light source and the elastomer film is 100mm, and preparing the driver film with adjustable elastic modulus.
3) Preparation of the flexible driver:
the flexible actuator is prepared by adhering the actuator film with adjustable elastic modulus prepared in 2) to a pneumatic device, and the appearance diagram is shown in fig. 1, wherein 1 is the actuator film with adjustable elastic modulus, 2 is the pneumatic device, 3 is the patterned area, and Δ r is the annular ring width.
The stress-strain curve diagram of the patterned region of the driver film with adjustable elastic modulus prepared in step 2) is shown in fig. 2.
FIG. 3 is a driving behavior diagram of the flexible driver under an air pressure of 5-50 Pa, since the elastic modulus difference between the patterned region (cross-linked portion) and the substrate region (non-cross-linked portion) is large, macroscopically different pneumatic driving behaviors are generated, the elastic modulus of the substrate region is small, and the expansion effect is more obvious than that of the patterned region under the air driving, when the air pressure is 25Pa, the elastic modulus of the driver film patterned region with the adjustable elastic modulus is 14.41MPa, and the elastic modulus of the substrate region is 0.18 MPa. As shown in fig. 4, when the air pressure is 25Pa, the angle θ between the substrate area inside the ring and the substrate area outside the ring is 74.37 °. Fig. 5 shows the variation of the included angle θ between the inner base region of the ring and the outer base region of the ring with increasing gas pressure.
Example 2
1) Design of the patterned region:
the designed patterned area is a ring with the width of 3mm, the outer diameter is 35mm, the inner diameter is 29mm, and a mask with a corresponding shape is cut by using filter paper.
2) Preparation of an elastic modulus adjustable driver film:
(1) 1.00g of Ecoflex00-30, 0.05g of initiator 2-hydroxy-4 '- (2-hydroxyethoxy) -2-methyl propiophenone, 0.01g of cross-linking agent N, N' -methylene bisacrylamide and 10mL of N-heptane are blended to prepare a pre-polymerization solution;
(2) coating the pre-polymerized solution on a gas-liquid interface, reacting for 2h at 20 ℃, curing to form an elastomer film, and cutting the film into a circle with the diameter of 70 mm;
(3) covering the elastomer film by using the mask cut in the step 1), carrying out photoinitiated crosslinking for 0.5h under 20W of ultraviolet light, wherein the included angle between the illumination direction of the ultraviolet light and the elastomer film is 45 degrees, the distance between an ultraviolet light source and the elastomer film is 100mm, and preparing the driver film with adjustable elastic modulus;
3) preparation of the flexible driver:
adhering the actuator film with adjustable elastic modulus prepared in 2) to a pneumatic device to prepare a flexible actuator.
The stress-strain curve diagram of the patterned region of the driver film with adjustable elastic modulus prepared in step 2) is shown in fig. 2.
FIG. 6 is a driving diagram of the flexible actuator under a pressure of 5 to 50 Pa. When the air pressure is 25Pa, the elastic modulus of the patterned area of the driver film with the adjustable elastic modulus is 0.32MPa, and the elastic modulus of the base area is 0.15 MPa. Fig. 5 shows the variation of the included angle theta between the substrate area on the inner side of the circular ring and the substrate area on the outer side of the circular ring with the increase of the air pressure, and when the air pressure is 25Pa, the included angle theta between the substrate area on the inner side of the circular ring and the substrate area on the outer side of the circular ring is 19.00 deg.
Example 3
1) Design of the patterned region:
the designed patterned area is a ring with the width of 3mm, the outer diameter is 35mm, the inner diameter is 29mm, and a mask with a corresponding shape is cut by using filter paper.
2) Preparation of an elastic modulus adjustable driver film:
(1) 1.00g of Ecoflex00-30, 0.05g of initiator 2-hydroxy-4 '- (2-hydroxyethoxy) -2-methyl propiophenone, 0.01g of cross-linking agent N, N' -methylene bisacrylamide and 10mL of N-heptane are blended to prepare a pre-polymerization solution;
(2) coating the pre-polymerized solution on a gas-liquid interface, reacting for 2h at 20 ℃, curing to form an elastomer film, and cutting the film into a circle with the diameter of 70 mm;
(3) covering the elastomer film by using the mask cut in the step 1), carrying out photoinitiated crosslinking for 0.5h under 20W of ultraviolet light, wherein the included angle between the illumination direction of the ultraviolet light and the elastomer film is 90 degrees, the distance between an ultraviolet light source and the elastomer film is 100mm, and preparing the driver film with adjustable elastic modulus;
3) preparation of the flexible driver:
adhering the actuator film with adjustable elastic modulus prepared in the step 2) to a pneumatic device through an adhesive to prepare a flexible actuator,
when the air pressure is 25Pa, the elastic modulus of the patterned region of the driver film with adjustable elastic modulus prepared in the step 2) is 0.51MPa, the elastic modulus of the substrate region is 0.19MPa, and the included angle theta between the substrate region at the inner side of the circular ring and the substrate region at the outer side of the circular ring is 20.82 degrees.
Example 4
1) Design of the patterned region:
the designed patterned area is a ring with the width of 3mm, the outer diameter is 35mm, the inner diameter is 29mm, and a mask with a corresponding shape is cut by using filter paper.
2) Preparation of an elastic modulus adjustable driver film:
(1) 1.00g of Ecoflex00-30, 0.05g of initiator 2-hydroxy-4 '- (2-hydroxyethoxy) -2-methyl propiophenone, 0.01g of cross-linking agent N, N' -methylene bisacrylamide and 10mL of N-heptane are blended to prepare a pre-polymerization solution;
(2) coating the pre-polymerized solution on a gas-liquid interface, reacting for 2h at 20 ℃, curing to form an elastomer film, and cutting the film into a circle with the diameter of 70 mm;
(3) covering the elastomer film by using the mask cut in the step 1), carrying out photoinitiated crosslinking for 0.5h under 20W of ultraviolet light, wherein the included angle between the illumination direction of the ultraviolet light and the elastomer film is 45 degrees, the distance between an ultraviolet light source and the elastomer film is 10mm, and preparing the driver film with adjustable elastic modulus.
3) Preparation of the flexible driver:
adhering the actuator film with adjustable elastic modulus prepared in 2) to a pneumatic device by using an adhesive to prepare a flexible actuator.
When the air pressure is 25Pa, the elastic modulus of the patterned region of the driver film with adjustable elastic modulus prepared in the step 2) is 1.07MPa, the elastic modulus of the substrate region is 0.20MPa, and the included angle theta between the substrate region at the inner side of the circular ring and the substrate region at the outer side of the circular ring is 21.36 degrees.
Example 5
1) Design of the patterned region:
the designed patterned area is a ring with the width of 3mm, the outer diameter is 35mm, the inner diameter is 29mm, and a mask with a corresponding shape is cut by using filter paper.
2) Preparation of an elastic modulus adjustable driver film:
(1) 1.00g of Ecoflex00-30, 0.05g of initiator 2-hydroxy-4 '- (2-hydroxyethoxy) -2-methyl propiophenone, 0.01g of cross-linking agent N, N' -methylene bisacrylamide and 10mL of N-heptane are blended to prepare a pre-polymerization solution;
(2) coating the pre-polymerized solution on a gas-liquid interface, reacting for 2h at 20 ℃, curing to form an elastomer film, and cutting the film into a circle with the diameter of 70 mm;
(3) covering the elastomer film by using the mask cut in the step 1), carrying out photoinitiated crosslinking for 0.5h under 200W of ultraviolet light, wherein the included angle between the illumination direction of the ultraviolet light and the elastomer film is 45 degrees, the distance between an ultraviolet light source and the elastomer film is 100mm, and preparing the driver film with adjustable elastic modulus.
3) Preparation of the flexible driver:
adhering the actuator film with adjustable elastic modulus prepared in 2) to a pneumatic device by using an adhesive to prepare a flexible actuator.
When the air pressure is 25Pa, the elastic modulus of the patterned region of the driver film with adjustable elastic modulus prepared in the step 2) is 2.18MPa, the elastic modulus of the substrate region is 0.18MPa, and the included angle theta between the substrate region at the inner side of the circular ring and the substrate region at the outer side of the circular ring is 25.21 degrees.
Example 6
1) Design of the patterned region:
the designed patterned area is a ring with the width of 3mm, the outer diameter is 35mm, the inner diameter is 29mm, and a mask with a corresponding shape is cut by using filter paper.
2) Preparation of an elastic modulus adjustable driver film:
(1) 1.00g of Ecoflex00-30, 0.05g of initiator 2-hydroxy-4 '- (2-hydroxyethoxy) -2-methyl propiophenone, 0.01g of cross-linking agent N, N' -methylene bisacrylamide and 10mL of N-heptane are blended to prepare a pre-polymerization solution;
(2) coating the pre-polymerized solution on a gas-liquid interface, reacting for 2h at 20 ℃, curing to form an elastomer film, and cutting the film into a circle with the diameter of 70 mm;
(3) covering the elastomer film by using the mask cut in the step 1), carrying out photoinitiated crosslinking for 3h under 20W ultraviolet light, wherein the included angle between the illumination direction of the ultraviolet light and the film is 45 degrees, the distance between an ultraviolet light source and the elastomer film is 100mm, and preparing the driver film with adjustable elastic modulus.
3) Preparation of the flexible driver:
adhering the actuator film with adjustable elastic modulus prepared in 2) to a pneumatic device by using an adhesive to prepare a flexible actuator.
When the air pressure is 25Pa, the elastic modulus of the patterned region of the driver film with adjustable elastic modulus prepared in the step 2) is 2.62MPa, the elastic modulus of the substrate region is 0.21MPa, and the included angle theta between the substrate region at the inner side of the circular ring and the substrate region at the outer side of the circular ring is 38.52 degrees.
Example 7
1) Design of the patterned region:
the designed patterned area is a ring with the width of 3mm, the outer diameter is 35mm, the inner diameter is 29mm, and a mask with a corresponding shape is cut by using filter paper.
2) Preparation of an elastic modulus adjustable driver film:
(1) 1.00g of Polydimethylsiloxane (PDMS), 0.05g of initiator 2-hydroxy-4 '- (2-hydroxyethoxy) -2-methyl propiophenone, 0.01g of crosslinking agent N, N' -methylene bisacrylamide and 10mL of N-heptane are blended to form a pre-polymerization solution;
(2) coating the pre-polymerized solution on a gas-liquid interface, reacting for 2h at 60 ℃, curing to form an elastomer film, and cutting the film into a circle with the diameter of 70 mm;
(3) covering the elastomer film by using the mask cut in the step 1), carrying out photoinitiated crosslinking for 0.5h under 20W of ultraviolet light, wherein the included angle between the illumination direction of the ultraviolet light and the elastomer film is 45 degrees, the distance between an ultraviolet light source and the elastomer film is 100mm, and preparing the driver film with adjustable elastic modulus;
3) preparation of the flexible driver:
adhering the actuator film with adjustable elastic modulus prepared in 2) to a pneumatic device to prepare a flexible actuator.
When the air pressure is 25Pa, the elastic modulus of the patterned region of the driver film with adjustable elastic modulus prepared in the step 2) is 20.32MPa, the elastic modulus of the substrate region is 1.45MPa, and the included angle theta between the substrate region at the inner side of the circular ring and the substrate region at the outer side of the circular ring is 11.75 degrees.
Example 8
1) Design of the patterned region:
the designed patterned area is a ring with the width of 3mm, the outer diameter is 35mm, the inner diameter is 29mm, and a mask with a corresponding shape is cut by using filter paper.
2) Preparation of an elastic modulus adjustable driver film:
(1) 1.00g of Ecoflex00-30, 0.1g of initiator 2-hydroxy-4 '- (2-hydroxyethoxy) -2-methyl propiophenone, 0.01g of cross-linking agent N, N' -methylene bisacrylamide and 10mL of N-heptane are blended to prepare a pre-polymerization solution;
(2) coating the pre-polymerized solution on a gas-liquid interface, reacting for 2h at 20 ℃, curing to form an elastomer film, and cutting the film into a circle with the diameter of 70 mm;
(3) covering the elastomer film by using the mask cut in the step 1), carrying out photoinitiated crosslinking for 0.5h under 20W of ultraviolet light, wherein the included angle between the illumination direction of the ultraviolet light and the elastomer film is 45 degrees, the distance between an ultraviolet light source and the elastomer film is 100mm, and preparing the driver film with adjustable elastic modulus;
3) preparation of the flexible driver:
adhering the actuator film with adjustable elastic modulus prepared in 2) to a pneumatic device to prepare a flexible actuator.
When the air pressure is 25Pa, the elastic modulus of the patterned region of the driver film with adjustable elastic modulus prepared in the step 2) is 0.48MPa, the elastic modulus of the substrate region is 0.16MPa, and the included angle theta between the substrate region at the inner side of the circular ring and the substrate region at the outer side of the circular ring is 25.21 degrees.
Example 9
1) Design of the patterned region:
the designed patterned area is a ring with the width of 3mm, the outer diameter is 35mm, the inner diameter is 29mm, and a mask with a corresponding shape is cut by using filter paper.
2) Preparation of an elastic modulus adjustable driver film:
(1) 1.00g of Ecoflex00-30, 0.05g of initiator 2-hydroxy-4 '- (2-hydroxyethoxy) -2-methyl propiophenone, 0.01g of cross-linking agent N, N' -methylene bisacrylamide and 10mL of N-heptane are blended to prepare a pre-polymerization solution;
(2) coating the pre-polymerized solution on a gas-liquid interface, reacting for 2h at 60 ℃, curing to form an elastomer film, and cutting the film into a circle with the diameter of 70 mm;
(3) covering the elastomer film by using the mask cut in the step 1), carrying out photoinitiated crosslinking for 0.5h under 20W of ultraviolet light, wherein the included angle between the illumination direction of the ultraviolet light and the elastomer film is 45 degrees, the distance between an ultraviolet light source and the elastomer film is 100mm, and preparing the driver film with adjustable elastic modulus;
3) preparation of the flexible driver:
adhering the actuator film with adjustable elastic modulus prepared in 2) to a pneumatic device to prepare a flexible actuator.
When the air pressure is 25Pa, the elastic modulus of the patterned region of the driver film with adjustable elastic modulus prepared in the step 2) is 0.45MPa, the elastic modulus of the substrate region is 0.26MPa, and the included angle theta between the substrate region at the inner side of the circular ring and the substrate region at the outer side of the circular ring is 16.53 degrees.
Example 10
1) Design of the patterned region:
the designed patterned area is a ring with the width of 3mm, the outer diameter is 35mm, the inner diameter is 29mm, and a mask with a corresponding shape is cut by using filter paper.
2) Preparation of an elastic modulus adjustable driver film:
(1) 1.00g of Ecoflex00-30, 0.05g of initiator 2-hydroxy-4 '- (2-hydroxyethoxy) -2-methyl propiophenone, 0.01g of cross-linking agent N, N' -methylene bisacrylamide and 10mL of N-heptane are blended to prepare a pre-polymerization solution;
(2) coating the pre-polymerized solution on a gas-liquid interface, reacting at 20 ℃ for 12h, curing to form an elastomer film, and cutting the film into a circle with the diameter of 70 mm;
(3) covering the elastomer film by using the mask cut in the step 1), carrying out photoinitiated crosslinking for 0.5h under 20W of ultraviolet light, wherein the included angle between the illumination direction of the ultraviolet light and the elastomer film is 45 degrees, the distance between an ultraviolet light source and the elastomer film is 100mm, and preparing the driver film with adjustable elastic modulus;
3) preparation of the flexible driver:
adhering the actuator film with adjustable elastic modulus prepared in 2) to a pneumatic device to prepare a flexible actuator.
When the air pressure is 25Pa, the elastic modulus of the patterned region of the driver film with adjustable elastic modulus prepared in the step 2) is 0.34MPa, the elastic modulus of the substrate region is 0.18MPa, and the included angle theta between the substrate region at the inner side of the circular ring and the substrate region at the outer side of the circular ring is 20.76 degrees.
Example 11
1) Design of the patterned region:
the designed patterned area is a ring with the width of 3mm, the outer diameter is 35mm, the inner diameter is 29mm, and a mask with a corresponding shape is cut by using filter paper.
2) Preparation of an elastic modulus adjustable driver film:
(1) 1.00g of Ecoflex00-30, 0.05g of initiator 2-hydroxy-4 '- (2-hydroxyethoxy) -2-methyl propiophenone, 0.01g of cross-linking agent N, N' -methylene bisacrylamide and 10mL of N-hexane are blended to prepare a pre-polymerization solution;
(2) coating the pre-polymerized solution on a gas-liquid interface, reacting for 2h at 20 ℃, curing to form an elastomer film, and cutting the film into a circle with the diameter of 70 mm;
(3) covering the elastomer film by using the mask cut in the step 1), carrying out photoinitiated crosslinking for 0.5h under 20W of ultraviolet light, wherein the included angle between the illumination direction of the ultraviolet light and the elastomer film is 45 degrees, the distance between an ultraviolet light source and the elastomer film is 100mm, and preparing the driver film with adjustable elastic modulus;
3) preparation of the flexible driver:
adhering the actuator film with adjustable elastic modulus prepared in 2) to a pneumatic device to prepare a flexible actuator.
When the air pressure is 25Pa, the elastic modulus of the patterned region of the driver film with adjustable elastic modulus prepared in the step 2) is 0.37MPa, the elastic modulus of the substrate region is 0.15MPa, and the included angle theta between the substrate region at the inner side of the circular ring and the substrate region at the outer side of the circular ring is 19.25 degrees.
Example 12
1) Design of the patterned region:
the designed patterned area is a circular ring with the ring width of 3mm, the outer diameter of the circular ring is 35mm, the inner diameter of the circular ring is 29mm, and the filter paper is cut into the same circular ring shape.
2) Preparation of an elastic modulus adjustable driver film:
(1) 1.00g of Ecoflex00-30 and 10mL of n-heptane are blended to form a mixed solution;
(2) coating the mixed solution on a gas-liquid interface, reacting for 2h at 20 ℃, curing to form a film, and cutting the film into a circle with the diameter of 70 mm;
(3) dissolving 0.05g of initiator 2-hydroxy-4 '- (2-hydroxyethoxy) -2-methyl propiophenone and 0.1g of cross-linking agent N, N' -methylene bisacrylamide in 10mL of N-heptane to form an ink-jet printing agent, attaching the ring filter paper cut in the 1) loaded with the ink-jet printing agent to the surface of the thin film for 10min, removing the filter paper, and carrying out photoinitiated crosslinking for 0.5h under 20W of ultraviolet light, wherein the included angle between the illumination direction of the ultraviolet light and the elastomer thin film is 45 degrees, and the distance between the ultraviolet light source and the elastomer thin film is 100mm, thus preparing the driver thin film with adjustable elastic modulus.
3) Preparation of the flexible driver:
adhering the actuator film with adjustable elastic modulus prepared in 2) to a pneumatic device to prepare a flexible actuator.
When the air pressure is 25Pa, the elastic modulus of the patterned region of the driver film with adjustable elastic modulus prepared in the step 2) is 0.45MPa, the elastic modulus of the substrate region is 0.23MPa, and the included angle theta between the substrate region at the inner side of the circular ring and the substrate region at the outer side of the circular ring is 17.25 degrees.
Example 13
1) Design of the patterned region:
the designed patterned area is a circular ring with the ring width of 3mm, the outer diameter of the circular ring is 35mm, the inner diameter of the circular ring is 29mm, and the filter paper is cut into the same circular ring shape.
2) Preparation of an elastic modulus adjustable driver film:
(1) 1.00g of Ecoflex00-30 and 10mL of n-heptane are blended to form a mixed solution;
(2) coating the mixed solution on a gas-liquid interface, reacting for 2h at 20 ℃, curing to form a film, and cutting the film into a circle with the diameter of 70 mm;
(3) dissolving 0.05g of initiator 2-hydroxy-4 '- (2-hydroxyethoxy) -2-methyl propiophenone and 0.1g of cross-linking agent N, N' -methylene bisacrylamide in 10mL of N-heptane to form an ink-jet printing agent, attaching the ring filter paper cut in the 1) loaded with the ink-jet printing agent to the surface of the thin film for 10min, carrying out photoinitiated crosslinking for 0.5h under 200W of ultraviolet light after removing the filter paper, wherein the included angle between the illumination direction of the ultraviolet light and the thin film of the elastomer is 45 degrees, and the distance between the ultraviolet light source and the thin film of the elastomer is 100mm, thus preparing the driver thin film with adjustable elastic modulus.
3) Preparation of the flexible driver:
adhering the actuator film with adjustable elastic modulus prepared in 2) to a pneumatic device to prepare a flexible actuator.
When the air pressure is 25Pa, the elastic modulus of the patterned region of the driver film with adjustable elastic modulus prepared in the step 2) is 1.75MPa, the elastic modulus of the substrate region is 0.25MPa, and the included angle theta between the substrate region at the inner side of the circular ring and the substrate region at the outer side of the circular ring is 23.25 degrees.
Example 14
1) Design of the patterned region:
the designed patterned area is a circular ring with the ring width of 3mm, the outer diameter of the circular ring is 35mm, the inner diameter of the circular ring is 29mm, and the filter paper is cut into the same circular ring shape.
2) Preparation of an elastic modulus adjustable driver film:
(1) 1.00g of polydimethylsiloxane and 10mL of n-heptane are blended into a mixed solution;
(2) coating the mixed solution on a gas-liquid interface, reacting for 2h at 20 ℃, curing to form a film, and cutting the film into a circle with the diameter of 70 mm;
(3) dissolving 0.05g of initiator 2-hydroxy-4 '- (2-hydroxyethoxy) -2-methyl propiophenone and 0.1g of cross-linking agent N, N' -methylene bisacrylamide in 10mL of N-heptane to form an ink-jet printing agent, attaching the ring filter paper cut in the 1) loaded with the ink-jet printing agent to the surface of the thin film for 10min, carrying out photoinitiated crosslinking for 0.5h under 200W of ultraviolet light after removing the filter paper, wherein the included angle between the illumination direction of the ultraviolet light and the thin film of the elastomer is 45 degrees, and the distance between the ultraviolet light source and the thin film of the elastomer is 100mm, thus preparing the driver thin film with adjustable elastic modulus.
3) Preparation of the flexible driver:
adhering the actuator film with adjustable elastic modulus prepared in 2) to a pneumatic device to prepare a flexible actuator.
When the air pressure is 25Pa, the elastic modulus of the patterned region of the driver film with adjustable elastic modulus prepared in the step 2) is 15.42MPa, the elastic modulus of the substrate region is 1.31MPa, and the included angle theta between the substrate region at the inner side of the circular ring and the substrate region at the outer side of the circular ring is 8.23 degrees.
Example 15
1) Design of the patterned region:
the design pattern area is a 3mm wide five-pointed star pattern, the outer contour of the pattern area is equivalent to a circle with the diameter of 60mm, the inner contour of the pattern area is equivalent to a circle with the diameter of 57mm, and a mask with a corresponding shape is cut by using filter paper.
2) Preparation of an elastic modulus adjustable driver film:
(1) mixing 1.00g of Ecoflex00-30, 0.05g of initiator 2-hydroxy-4 '- (2-hydroxyethoxy) -2-methyl propiophenone, 0.01g of cross-linking agent N, N' -methylene bisacrylamide and 10mL of N-heptane to obtain a mixed solution;
(2) coating the mixed solution on a gas-liquid interface, reacting for 2h at 20 ℃, curing to form a film, and cutting the film into a circle with the diameter of 70 mm;
(3) covering the elastomer film by using the mask cut in the step 1), carrying out photoinitiated crosslinking for 0.5h under 20W ultraviolet light, wherein the included angle between the illumination direction of the ultraviolet light and the film is 45 degrees, the distance between an ultraviolet light source and the elastomer film is 100mm, and preparing the driver film with adjustable elastic modulus.
3) Preparation of the flexible driver:
adhering the actuator film with adjustable elastic modulus prepared in 2) to a pneumatic device by using an adhesive to prepare a flexible actuator.
Fig. 7 is an external view of a flexible actuator prepared in example 15, fig. 7A is an external view, fig. 7B is an external view of an actuation behavior under an air pressure of 50Pa, and fig. 7C is an external view of the actuation behavior under an air pressure of 50 Pa.
Example 16
1) Design of the patterned region:
the patterned area was designed as a 3mm wide pentagonal pattern with an outer contour corresponding to an inscribed circle of 60mm in diameter and an inner contour corresponding to an inscribed circle of 57mm in diameter, and the filter paper was cut to the same pentagonal shape.
2) Preparation of an elastic modulus adjustable driver film:
(1) 2.00g of Ecoflex00-30 and 10mL of n-heptane are blended to form a mixed solution;
(2) coating the mixed solution on a gas-liquid interface, reacting for 2h at 20 ℃, curing to form a film, and cutting the film into a circle with the diameter of 70 mm;
(3) dissolving 0.1g of initiator 2-hydroxy-4' - (2-hydroxyethoxy) -2-methyl propiophenone and 0.05g of cross-linking agent ethylene glycol diacrylate in 10mL of n-heptane to form a dye printing agent, attaching the five-pointed star filter paper cut in 1) loaded with the dye printing agent to the surface of the thin film for 10min, removing the filter paper, and carrying out photoinitiated crosslinking for 0.5h under 200W of ultraviolet light, wherein the included angle between the illumination direction of the ultraviolet light and the elastomer thin film is 45 degrees, and the distance between the ultraviolet light source and the elastomer thin film is 100mm, thus preparing the actuator thin film with adjustable elastic modulus.
3) Preparation of the flexible driver:
adhering the actuator film with adjustable elastic modulus prepared in 2) to a pneumatic device to prepare a flexible actuator.
Claims (10)
1. A method for preparing an elastic modulus adjustable driver film is characterized by comprising the following steps:
(1) blending an elastomer precursor, an initiator, a crosslinking agent and an organic solvent to obtain a pre-polymerization solution;
(2) coating the pre-polymerized liquid on a gas-liquid interface to be solidified into an elastomer film;
(3) and covering the elastomer film by using a mask, and carrying out photoinitiated crosslinking under ultraviolet light to prepare the driver film with adjustable elastic modulus.
2. A method for preparing an elastic modulus adjustable driver film is characterized by comprising the following steps:
(1) blending an elastomer precursor and an organic solvent to obtain a mixed solution;
(2) coating the mixed solution on a gas-liquid interface and curing the mixed solution into a film;
(3) dissolving an initiator and a cross-linking agent in an organic solvent to form a printing dye, performing patterned printing and dyeing on the surface of the film by using the printing dye to obtain an elastomer film, and performing photo-initiated crosslinking under ultraviolet light to prepare the driver film with adjustable elastic modulus.
3. The method for preparing an elastic modulus adjustable driver film according to claim 1 or 2, wherein the elastomer precursor is polydimethylsiloxane or aliphatic aromatic random copolyester, and the addition amount is 0.05-0.4 g/mL; the initiator is 2-hydroxy-4' - (2-hydroxyethoxy) -2-methyl propiophenone; the cross-linking agent is N, N' -methylene bisacrylamide or ethylene glycol diacrylate; the organic solvent is toluene, n-hexane, n-heptane or acetone.
4. The method for preparing an elastic modulus adjustable actuator film according to claim 1 or 2, wherein the curing conditions are: 20 to 100 ℃ for 0.5 to 24 hours.
5. The method for preparing an elastic modulus adjustable driver film according to claim 1, wherein the addition amount of the initiator is 5-10 mg/mL; the addition amount of the cross-linking agent is 1-5 mg/mL.
6. The method for preparing an elastic modulus adjustable driver film according to claim 2, wherein the printing and dyeing agent is composed of 5-10 mg/mL of initiator and 1-10 mg/mL of cross-linking agent.
7. The method for preparing the driver film with the adjustable elastic modulus according to claim 1 or 2, wherein the power of the ultraviolet light source is 10-200W, the distance between the ultraviolet light source and the elastomer film is 10-200 mm, and the included angle between the ultraviolet light irradiation direction and the elastomer film is 10-90 degrees; the photoinitiated crosslinking time is 0.01-3 h.
8. The elastic modulus adjustable actuator film manufactured by the method for manufacturing an elastic modulus adjustable actuator film according to claim 1 or 2.
9. The adjustable modulus of elasticity actuator membrane of claim 8 assembled into a flexible actuator.
10. Use of the flexible drive of claim 9 in camouflaged skin, all-soft-grip.
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