CN114603873B - Preparation method of variable-rigidity soft driver - Google Patents
Preparation method of variable-rigidity soft driver Download PDFInfo
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- CN114603873B CN114603873B CN202210315091.2A CN202210315091A CN114603873B CN 114603873 B CN114603873 B CN 114603873B CN 202210315091 A CN202210315091 A CN 202210315091A CN 114603873 B CN114603873 B CN 114603873B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
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Abstract
The invention discloses a preparation method of a variable-rigidity soft driver, which is characterized in that polycaprolactone with variable rigidity and ethanol-containing silica gel which can generate volume expansion by heating are used as material bases, a variable-rigidity layer and a driving layer are prepared by die forming, and the variable-rigidity layer and the driving layer are vertically bonded by a silica gel adhesive to form a variable-rigidity-driving double-layer structure, so that the variable-rigidity soft driver with the variable rigidity is prepared. Application scenes such as 'two-finger grip', 'four-finger grip' and 'artificial muscle' are realized. The variable-rigidity soft driver prepared by the invention has wide application range, large variable-rigidity range, low preparation cost, large bending angle and high self-weight-bearing ratio, and provides an effective new thought for designing and preparing the soft driver with variable rigidity.
Description
Technical Field
The invention relates to the field of driver manufacturing, in particular to a preparation method of a variable-rigidity soft driver.
Background
Soft drivers have received great attention due to high compliance and adaptability to complex environments, as compared to conventional drivers having complex mechanical structures, can realize complex and intelligent mechanical deformation through a simple structure, and have been used in various fields such as crawling robots, soft grippers, underwater robots, surgical robots, and the like. This makes soft body drivers ideal materials for designing and manufacturing soft body robots, artificial muscles. However, due to the low rigidity of the constituent materials, it is difficult for the current soft robots to perform some tasks requiring high loads, which greatly limits their wide application. In order to solve the problem, researchers at home and abroad carry out a great deal of research, mainly focusing on adding a variable stiffness function into a soft driver, and the current main variable stiffness realization mode is that a particle blocking material exists; a fluid polymer composite; an electro-magneto-rheological material; a shape memory material; a thermoplastic material; a liquid crystal elastomer; an elastomer composite; phase change composites, and the like. Although the research has achieved certain effects, the following disadvantages still exist: 1. most of the variable stiffness soft body drivers use pneumatic drive, and the pneumatic device has overlarge volume and mass; 2. high voltage driving is needed, and potential danger exists for operators; 3. the preparation process is complex, the preparation cost is high, and the preparation method is not suitable for large-scale application. Therefore, how to prepare the variable-stiffness soft driver with large variable-stiffness range, low cost, simple preparation, low voltage and large deformation needs to be further researched.
The invention prepares the electrothermal-driven variable-rigidity soft driver driven by the phase change of ethanol by die forming from the aspects of material synthesis and structure. Polycaprolactone is used as a variable stiffness material, absolute ethyl alcohol is used as a phase change material, and a variable stiffness-driving double-layer structure form that a variable stiffness layer and a driving layer are mutually overlapped and do not interfere with each other is innovatively adopted to realize variable stiffness driving design. The preparation method provided by the invention provides an effective new idea and a new method for improving the load and the bending angle of the variable-stiffness soft driver.
Disclosure of Invention
The invention prepares the electrothermal-driven variable-rigidity soft driver driven by ethanol phase change by mould molding, takes silica gel as a substrate, innovatively adopts a mode that a variable-rigidity layer and a driving layer are mutually overlapped and do not interfere with each other to realize variable-rigidity driving design, and the variable-rigidity layer is adhered on the driving layer to realize independent electrothermal driving. And the variable stiffness driving of the soft driver is realized by combining the structural design. The invention seeks a method for preparing a variable-stiffness soft driver with large variable-stiffness range, low cost, simple preparation, low voltage and large deformation, overcomes the defects of low stiffness, high driving voltage and large driving equipment of the traditional flexible driver, and provides an effective new method for the design and development of the soft driver in the fields of medical science, soft robots, artificial muscles and the like.
A preparation method of a variable-stiffness soft driver, this technological scheme regards polycaprolactone with variable-stiffness ability as the variable-stiffness layer, heat and can produce volume expanded ethanol-containing silica gel as the driving layer, through "variable-stiffness-drive" double-deck structural design, make the driver produce the wide-angle bending to one side of variable-stiffness layer while working, and control the driver's stiffness through regulating and controlling the power supply of the variable-stiffness layer while working, prepare the low-voltage control, variable-stiffness soft driver with large bending angle and variable-stiffness ability;
the actuating layer uses Ecoflex0050 silica gel as the actuating layer base member, absolute ethyl alcohol is actuating layer phase change material, polycaprolactone is become rigidity layer, 0.15mm diameter silver-colored wire is the heating wire, through the mould shaping, absolute ethyl alcohol evenly distributed in the silica gel base member, "become rigidity-drive" bilayer structure can independent control under 2V DC power supply, utilize polycaprolactone to rise the temperature and become rigidity and ethanol intensification evaporation messenger silica gel volume inflation's principle, the variable rigidity and the crooked driven ability of driver have been realized, combine structural design, successfully realized for example: the application scenes of a two-finger gripper, a four-finger gripper and artificial muscles are shown;
the preparation steps of the variable stiffness soft driver are as follows:
1) Preparation of the variable stiffness layer:
a) Composition of the original material of the variable stiffness layer: polycaprolactone is used as a monomer, a silver wire is used as a heating wire, and a 2V direct current stabilized power supply is used as a control source;
b) Preparing materials: weighing raw materials according to the proportioning ratio in the step a), firstly putting a silver resistance wire into a mold under the condition of 80 ℃ water bath, adding polycaprolactone into the mold after heating to a molten state, and then taking out a variable stiffness layer after the mold is cooled, so as to successfully prepare an electrothermal-driven variable stiffness layer;
2) Preparation of a driving layer:
c) Composition of the starting material of the driving layer: ecoflex0050 silica gel is used as a matrix, 99% absolute ethyl alcohol is used as a phase change material, a silver wire is used as a heating wire, and a 2V direct current stabilized power supply is used as a control source;
d) Preparing materials: under room temperature conditions, ecoflex0050 silica AB composition was mixed at a ratio of 1:1, adding 20% volume fraction of absolute ethyl alcohol, stirring for 5min, adding into a mold with a silver resistance wire, curing at room temperature for 4h, and taking out, thereby successfully preparing an electrothermal driving layer;
3) Preparing a variable-rigidity soft driver:
e) And (3) bonding the variable stiffness layer and the driving layer prepared in the step (1) and the step (2) by using a silica gel adhesive up and down to form a variable stiffness-driving double-layer structure, and controlling the upper layer and the lower layer by using an independent 2V direct current power supply, thereby completing the preparation of the variable stiffness soft driver.
The invention has the beneficial effects that:
1) The invention takes polycaprolactone as a variable stiffness layer, ecoflex0050 silica gel as a matrix, absolute ethyl alcohol as a phase change material, a silver resistance wire as an electric heating wire, and a 2V direct current stabilized voltage power supply as a control source, and prepares the electrothermal variable stiffness ethanol phase change driven soft driver by a mold forming method, wherein the electrothermal variable stiffness ethanol phase change driven soft driver is in a layered form of an upper layer and a lower layer, changes the low stiffness working mode of the traditional soft driver, and has the characteristics of low voltage driving, large variable stiffness range and large bending angle.
2) The variable-stiffness driving design is realized in a mode that the variable-stiffness layer and the driving layer are mutually overlapped and do not interfere with each other, the low-voltage and large-variable-stiffness range is realized, the variable-stiffness and bending driving capability of the driver is realized by utilizing the principle that the temperature rise and the stiffness of polycaprolactone and the temperature rise and gasification of ethanol cause the volume expansion of silica gel, the bionic design is converted into the bionic preparation, the preparation process is simple and efficient, and the variable-stiffness layer and the driving layer are tightly combined after the forming. The deformation process is reversible and repeatable.
3) By combining the structural design, the prepared electrothermal-driven variable-rigidity soft driver driven by ethanol phase change successfully realizes the following steps: the variable-rigidity soft driver prepared by the invention has wide application range, large variable-rigidity range, low preparation cost, large bending angle and high self-weight-load ratio, and can be used for the application of small-sized driver parts and large-sized driver parts.
Drawings
FIG. 1 is a schematic diagram of the preparation and assembly of a "variable stiffness layer" and a "driving layer" of the present invention into a variable stiffness soft body driver;
FIG. 2 is a graph of the change in storage modulus and tensile strength of the actuator of the present invention at room temperature and after heating;
FIG. 3 is a schematic diagram of the operation of the variable stiffness soft body driver of the present invention;
FIG. 4 is a diagram of the object gripping process of the present invention with "two finger grip" and "four finger grip";
FIG. 5 is a process diagram of the "artificial muscle" driven bone model of the present invention.
Detailed Description
A method for preparing a variable-rigidity soft driver comprises the following steps:
1) Preparation of variable stiffness layer
a) Composition of the original material of the variable stiffness layer:
2g of polycaprolactone particles and silver wires; the glass transition temperature of polycaprolactone is 62 ℃; the length of the silver wire is 30cm, and the diameter of the silver wire is 0.15mm;
b) And (3) preparing materials:
taking raw materials according to the mixture ratio in the step a); firstly, fusing polycaprolactone particles to form high-elastic polycaprolactone G under the condition of 80 ℃ water bath; then placing the high-elastic-state polycaprolactone G into a mold with a silver wire, and cooling to a glass state at room temperature;
2) Preparation of the drive layer
c) Composition of the starting material of the driving layer:
ecoflex0050 silica gel is used as a matrix, absolute ethyl alcohol is used as a phase change material, and a silver resistance wire is an electric heating wire; 10g of Ecoflex0050 silica gel component A; 10g of Ecoflex0050 silica gel component B; the volume of the absolute ethyl alcohol is 4ml; the silver wire is 50cm in length and 0.15mm in diameter;
d) Preparing materials:
the Ecoflex0050 silica gel AB composition was first mixed with 1:1 volume ratio, and stirring for 3min at room temperature to form a mixture H; then adding absolute ethyl alcohol into the mixture H and stirring for 3min; finally, pouring the mixture with the absolute ethyl alcohol into a self-made 3D printing PLA mould with a silver wire and curing for 4 hours at room temperature;
3): preparation of variable-rigidity soft driver
e) Adhering the variable stiffness layer prepared in the step 1) and the driving layer prepared in the step 2) up and down by using a silica adhesive, and curing for 1h at room temperature; successfully prepare the variable-rigidity soft driver.
Example 1:
preparing a variable-rigidity soft driver through die forming:
under the condition of 80 ℃ water bath, firstly putting a silver resistance wire into a mold, adding the silver resistance wire into the mold after polycaprolactone is heated to a molten state, then taking out a variable stiffness layer after the mold is cooled, and mixing the Ecoflex0050 silica gel AB component with the weight ratio of 1:1 mass ratio, adding 20 volume percent of absolute ethyl alcohol, stirring for 3min, then adding into a die with a silver resistance wire, curing at room temperature for 4h, and taking out, thus successfully preparing the electrothermal driving layer, as shown in figure 1, bonding the prepared variable stiffness layer and the driving layer up and down by using a silica adhesive, thus completing the preparation of the variable stiffness soft driver, wherein the upper layer and the lower layer can be controlled by using an independent 2V direct current power supply.
Example 2:
storage modulus and tensile strength change diagram of the variable-stiffness soft body driver at room temperature and after heating:
the storage modulus is tested by dynamic mechanical analysis on a DMA analyzer, the temperature is increased from 35 ℃ to 100 ℃, the heating rate is 3 ℃ min < -1 >, the storage modulus is obviously increased from 100kPa at high temperature to more than 7.263MPa at room temperature due to the glass transition from a rubbery state to a glassy state, the storage modulus is reduced by about 72.63 times from the room temperature to 70 ℃, the tensile strength of the driver is tested along with the change of the temperature by an MTS universal tensile tester at the tensile rate of 50mm s < -1 >, the tensile strength value at the room temperature is 0.403MPa, the tensile strength is reduced along with the increase of the temperature, and at 65 ℃, the soft driver has the lowest tensile strength which is about 6.4 times lower than the room temperature.
Example 3:
the variable stiffness soft driver comprises a working flow schematic diagram and a material object diagram:
as shown in fig. 3, the variable stiffness soft drive duty cycle includes five steps: 1. softening the actuator by heating the variable stiffness layer with the conductive circuit; 2. bending the actuator by applying a current; 3. hardening the driver by cooling the variable stiffness layer with air; 4. the heavy load can be born after the power supply is turned off; 5. the actuator is restored to the initial state by heating the variable stiffness layer.
The working principle of the driving layer is as follows: the ethanol is dispersed in bubbles in the inner wall, and the remaining space is occupied by ethanol vapor and air. The liquid ethanol evaporates with temperature, creating internal pressure inside the bubble, causing the silicone elastomer matrix to expand. When ethanol passes through the liquid-vapor phase transition, a large volume change occurs and the silicone elastomer matrix expands significantly. As the local pressure increases, the boiling temperature rises, so heating continues to a temperature slightly above 78.4 ℃ to further expand until there is no liquid ethanol in the bubbles.
Example 4:
the object grabbing process diagrams of the two-finger gripper and the four-finger gripper are assembled by the variable stiffness drivers:
under the condition of 80 ℃ water bath, firstly putting a silver resistance wire into a mold, adding the silver resistance wire into the mold after polycaprolactone is heated to a molten state, then taking out a variable stiffness layer after the mold is cooled, and mixing the Ecoflex0050 silica gel AB component with the weight ratio of 1:1 mass ratio, adding 20% volume fraction of absolute ethyl alcohol, stirring for 3min, adding into a mold with a silver resistance wire, curing at room temperature for 4h, taking out, successfully preparing an electrothermal driving layer, bonding the prepared variable stiffness layer and the driving layer up and down by using a silica adhesive, thus completing the preparation of the variable stiffness soft driver, wherein the upper layer and the lower layer can be controlled by using independent 2V direct current power supplies, two drivers are arranged on a 3D printing substrate to form a two-finger grip, four drivers are arranged on the 3D printing substrate to form a four-finger grip, as shown in figure 4, the prepared soft grip can successfully grip different objects, and the four-finger grip can grip more stably.
Example 5:
the single variable stiffness driver drives the skeleton model process diagram as an 'artificial muscle':
under the condition of 80 ℃ water bath, firstly putting a silver resistance wire into a mold, adding the silver resistance wire into the mold after polycaprolactone is heated to a molten state, then taking out a variable stiffness layer after the mold is cooled, and mixing the Ecoflex0050 silica gel AB component with the weight ratio of 1:1 mass ratio, adding 20 volume percent of absolute ethyl alcohol, stirring for 3min, adding into a die with a silver resistance wire, curing at room temperature for 4h, taking out, successfully preparing an electrothermal driving layer, bonding the prepared variable-stiffness layer and the driving layer up and down by using a silica gel adhesive, thus completing the preparation of the variable-stiffness soft driver, wherein the upper layer and the lower layer can be controlled by using independent 2V direct current power supplies, as shown in figure 5, the variable-stiffness soft driver is arranged at the elbow, and can lift the arm by playing a role similar to that of biceps brachii after being electrified.
Claims (1)
1. A method for preparing a variable-rigidity soft driver is characterized by comprising the following steps: polycaprolactone with variable stiffness capability is used as a variable stiffness layer, ethanol-containing silica gel which can generate volume expansion is heated to be used as a driving layer, the driver is bent to one side of the variable stiffness layer at a large angle during working through the design of a variable stiffness-driving double-layer structure, the rigidity of the driver is controlled by regulating and controlling a power supply of the variable stiffness layer during working, and a variable stiffness soft driver with low voltage control, large bending angle and variable stiffness capability is prepared;
the driving layer takes Ecoflex0050 silica gel as a driving layer matrix, absolute ethyl alcohol as a driving layer phase-change material, polycaprolactone as a variable stiffness layer, a silver wire with the diameter of 0.15mm as a heating wire, the absolute ethyl alcohol is uniformly distributed in the silica gel matrix through mold forming, a variable stiffness-driving double-layer structure is independently controlled under a 2V direct-current power supply, the variable stiffness and bending driving capacity of the driver are realized by utilizing the principle that the temperature and the stiffness of polycaprolactone are raised and the ethanol is heated and evaporated to expand the volume of the silica gel, and the application scenes of a two-finger gripper, a four-finger gripper and artificial muscles are successfully realized by combining with the structural design;
the preparation steps of the variable-rigidity soft driver are as follows:
1) Preparing a variable stiffness layer:
a) Composition of the original material of the variable stiffness layer: polycaprolactone is used as a monomer, a silver wire is used as a heating wire, and a 2V direct-current stabilized voltage power supply is used as a control source;
b) Preparing materials: weighing raw materials according to the proportioning ratio in the step a), firstly putting a silver resistance wire into a mold under the condition of 80 ℃ water bath, adding polycaprolactone into the mold after heating to a molten state, and then taking out a variable stiffness layer after the mold is cooled, so as to successfully prepare an electrothermal-driven variable stiffness layer;
2) Preparation of a driving layer:
c) Composition of the starting material of the driving layer: ecoflex0050 silica gel is used as a matrix, 99% absolute ethyl alcohol is used as a phase change material, a silver wire is used as a heating wire, and a 2V direct-current stabilized power supply is used as a control source;
d) Preparing materials: under room temperature conditions, ecoflex0050 silica AB composition was mixed at a ratio of 1:1, adding 20% volume fraction of absolute ethyl alcohol, stirring for 5min, adding into a mold with a silver resistance wire, curing at room temperature for 4h, and taking out, thereby successfully preparing an electrothermal driving layer;
3) Preparing a variable-rigidity soft driver:
e) And (3) bonding the variable stiffness layer and the driving layer prepared in the step (1) and the step (2) by using a silica gel adhesive up and down to form a variable stiffness-driving double-layer structure, and controlling the upper layer and the lower layer by using an independent 2V direct current power supply, thereby completing the preparation of the variable stiffness soft driver.
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