CN114750141B - Dielectric elastomer artificial muscle based on laser carbonization and preparation method thereof - Google Patents
Dielectric elastomer artificial muscle based on laser carbonization and preparation method thereof Download PDFInfo
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- CN114750141B CN114750141B CN202210476059.2A CN202210476059A CN114750141B CN 114750141 B CN114750141 B CN 114750141B CN 202210476059 A CN202210476059 A CN 202210476059A CN 114750141 B CN114750141 B CN 114750141B
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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
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Abstract
The invention discloses a dielectric elastomer artificial muscle based on laser carbonization and a preparation method thereof, which belong to the technical field of soft robots, and the dielectric elastomer artificial muscle combines a driving module and a connecting module to form a part of the artificial muscle, has the characteristics of low manufacturing cost, good operation control performance, high response speed and the like, and the driving module adopts flexible graphene materials, has good conductivity and flexibility, has good environmental adaptability, can control muscle movement only by changing the applied voltage, does not need to use other mechanical equipment, and has good popularization value.
Description
Technical Field
The invention belongs to the technical field of soft robots, and particularly relates to a dielectric elastomer artificial muscle based on laser carbonization and a preparation method thereof.
Background
In recent years, artificial muscles having high flexibility and high elasticity have been widely used in advanced manufacturing fields such as biomedical devices and biomimetic robots. The composite material is widely applied to artificial muscles due to its excellent properties such as light weight, simple manufacturing, low cost, and good bending braking. In practice, however, it is often necessary to cause a high actuation response by a combination of large deformations and quick response, which is greatly limited by the inability of artificial muscles to provide both large deformations and quick response.
From the current research results, artificial muscles have a wide range of application directions, for example: performing structural inspection and repair in a complex and difficult-to-disassemble machine; performing terrain exploration in a narrow space; arbitrarily changing shape during production activities to reduce tooling costs; concealment is enhanced by virtue of small body shapes and deformable shapes during monitoring activities. However, the existing artificial muscle has high manufacturing cost, poor mobility, low possibility of advancing and retreating and poor use effect.
Disclosure of Invention
In order to solve the technical problems, the invention provides a dielectric elastomer artificial muscle based on laser carbonization and a preparation method thereof, and aims to improve the control performance of the artificial muscle while reducing the cost, meet the requirements of large deformation and quick response of the muscle without other mechanical equipment and improve the service performance of the artificial muscle.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
the dielectric elastomer artificial muscle based on laser carbonization comprises two groups of driving modules and a connecting module positioned between the two groups of driving modules, wherein the two groups of driving modules are respectively a first driving module and a second driving module, the two groups of driving modules are flexible carbon single-element electrodes, and the flexible carbon single-element electrodes are equal in area, same in shape and opposite and parallel in position; the connecting module is positioned between the two groups of driving modules and is tightly attached to the two groups of driving modules; wherein, the connecting module adopts the main material and the curing agent with the proportion of (8-10): the PDMS manufactured by the method 1 is used as a connecting part material, and the driving module adopts flexible graphene obtained by carbonizing polyimide paper sheets by laser as a flexible carbon simple substance electrode.
Preferably, the invention also provides a preparation method of the dielectric elastomer artificial muscle based on laser carbonization, which comprises the following steps:
step S1, preparing a driving module:
s11, carbonizing a polyimide paper sheet by using laser to obtain a polyimide paper sheet with a continuous rectangular flexible graphene in the middle;
s12, mixing main materials and curing agents according to the proportion of (8-10): 1, covering and pouring the prepared polydimethylsiloxane solution on a polyimide paper sheet with one side of graphene;
s13, removing bubbles in the polydimethylsiloxane solution on the polyimide paper sheet by using a vacuum pump, and then placing the polyimide paper sheet into a high-temperature incubator for heating to solidify the polydimethylsiloxane solution after removing the bubbles;
s14, preparing a KOH solution with the weight of 20%, putting polyimide paper sheets with graphene into the KOH solution, corroding to remove all polyimide, taking out the rest polydimethylsiloxane sheets inlaid with flexible graphene, and cleaning;
s15, cutting out a polydimethylsiloxane sheet with a rectangular flexible graphene inlaid in the middle, and taking the polydimethylsiloxane sheet as a driving module carrier, wherein the flexible graphene inlaid on the polydimethylsiloxane sheet is a first driving module;
repeating the steps S11-S15 to obtain a second polydimethylsiloxane sheet with rectangular flexible graphene inlaid in the middle, wherein the second polydimethylsiloxane sheet is the carrier of another driving module, and the flexible graphene inlaid on the second polydimethylsiloxane sheet is the second driving module;
step S2, preparing a connection module:
s21, placing one surface of a driving module carrier with flexible graphene on a flat and smooth horizontal plane;
s22, mixing main materials and curing agents according to the proportion of (8-10): 1, covering the prepared polydimethylsiloxane solution on one surface of the driving module carrier in the step S21, which is not embedded with flexible graphene;
s23, removing bubbles in the polydimethylsiloxane solution covered in the step S22 on the paper sheet by using a vacuum pump;
s24, lightly paving one surface of the other driving module carrier without the flexible graphene on the polydimethylsiloxane solution after the bubbles are removed in the step S23, and enabling the rectangular flexible graphene on the two driving module carriers to be parallel up and down and each vertex to be on the same vertical line;
s25, placing the integral structure obtained in the step S24 on a horizontal plane position in a high-temperature incubator, and heating to enable the polydimethylsiloxane parts of the two driving module carriers to be solidified with the covered polydimethylsiloxane solution in the step S23, wherein the obtained polydimethylsiloxane solidification structure is a connecting module;
the connecting module and the driving modules positioned at two sides of the connecting module jointly form the dielectric elastomer artificial muscle based on laser carbonization.
The invention has the following beneficial effects:
1. the driving modules and the connecting modules are combined to jointly form the artificial muscle, and the motion sequence of each driving module can be coordinated and controlled to realize the motion of the artificial muscle, so that the artificial muscle has the advantages of reliable structure, low manufacturing cost and good operation control performance;
2. because the driving modules are flexible graphene, the flexibility is strong, the conductivity is strong, and therefore, the formed artificial muscle is good in overall flexibility and good in environmental adaptability, the artificial muscle can move only by changing the voltage applied to the electrodes of the two driving modules, other mechanical equipment is not needed, and the requirements of large deformation and quick response of the muscle can be met; 3. the preparation process is simple and feasible, and can meet the requirement of mass production.
Drawings
FIG. 1 is a front view of a dielectric elastomer artificial muscle of the present invention;
FIG. 2 is a schematic diagram of the motion flow of a dielectric elastomer artificial muscle according to the present invention;
FIG. 3 is a schematic illustration of a process for preparing a dielectric elastomer artificial muscle according to the present invention;
the device comprises a first driving module, a second driving module, a 2-connecting module, a 21-dielectric elastomer artificial muscle deformation under opposite phase voltages, a 22-dielectric elastomer artificial muscle recovery after voltage cancellation, a 31-laser, a 32-polyimide paper sheet, 33-graphene, a 34-PDMS solution, a 35-step of placing the solution into a high-temperature insulation box, a 36-step of removing the PDMS after air bubbles, a 37-step of removing polyimide through corrosion, a 38-driving module carrier and a 39-dielectric elastomer artificial muscle.
Detailed Description
The principles and features of the present invention are described below with reference to the drawings, the examples are illustrated for the purpose of illustrating the invention and are not to be construed as limiting the scope of the invention.
As shown in fig. 1, the invention provides a dielectric elastomer artificial muscle based on laser carbonization, which comprises two groups of driving modules and a connecting module 2 positioned between the two groups of driving modules, wherein the two groups of driving modules are respectively a first driving module 1A and a second driving module 1B, the two groups of driving modules are flexible carbon single-substance electrodes, and the flexible carbon single-substance electrodes are equal in area, same in shape and opposite and parallel to each other in position; the connecting module 2 is positioned between the two groups of driving modules and is tightly attached to the two groups of driving modules; wherein, the connecting module 2 adopts the main materials and the curing agent with the proportion of (8-10): the PDMS (polydimethylsiloxane) manufactured by the method 1 is used as a connecting part material, and the driving module adopts flexible graphene obtained by carbonizing polyimide paper sheets by laser as a flexible carbon simple substance electrode. In this arrangement, the driving modules are combined with the connecting modules, so that the motion sequence of each driving module can be coordinated and controlled to realize the motion of artificial muscle, specifically, referring to fig. 2, when the electrodes of the two groups of driving modules 1A and 1B are respectively connected with voltages with opposite phases, mutual attraction force is generated between the electrodes of the two groups of driving modules, so that the PDMS software serving as the connecting module 2 between the two groups of electrodes is extruded (the PDMS software serving as the connecting module 2 is extruded to generate shape deformation, and the actions of decreasing the upper and lower thickness and increasing the length and width are generated); after the voltage is removed, the electrical property and the mutual attraction force of the electrodes disappear simultaneously, and the PDMS soft body is not extruded any more and then quickly returns to the original shape and size.
The advantage of this arrangement is that, firstly, the connection module 2 adopts a main material and curing agent ratio of 10:1, the PDMS manufactured by the method is used as a connecting part material, has good flexibility and quick recovery, and can deform under lower extrusion force and quickly recover shape under no stress; secondly, because flexible graphene has good flexibility and conductivity, the flexible graphene driving module is used as a part of the dielectric elastomer artificial muscle, and the requirements of large deformation and quick response of the muscle are met without the help of other mechanical equipment, so that the use effect is better.
The invention also provides a preparation method of the dielectric elastomer artificial muscle based on laser carbonization, which comprises the following steps (see figure 3):
step S1, preparing a driving module:
s11, carbonizing a polyimide (Pi) paper sheet 32 by using a laser 31 to obtain a polyimide (Pi) paper sheet with a continuous rectangular flexible graphene 33 in the middle;
s12, mixing main materials and curing agents according to the proportion of (8-10): 1, covering and casting the prepared Polydimethylsiloxane (PDMS) solution 34 on a polyimide (Pi) paper sheet with one side of graphene 33;
s13, removing bubbles in the polydimethylsiloxane solution on the polyimide paper sheet by using a vacuum pump, and then placing the polyimide paper sheet into a high-temperature incubator for heating 35 to solidify PDMS 36 after removing the bubbles;
s14, preparing a KOH solution with the weight of 20%, putting a polyimide paper sheet with graphene into the KOH solution, corroding to remove all polyimide (37 shown in figure 3), and taking out and cleaning the rest PDMS sheet inlaid with flexible graphene;
s15, cutting out a PDMS sheet with a rectangular flexible graphene inlaid in the middle, wherein the PDMS sheet is used as a driving module carrier 38, and the flexible graphene inlaid on the PDMS sheet is used as a first driving module 1A;
repeating the steps S11-S15 to obtain a second PDMS sheet with a rectangular flexible graphene inlaid in the middle, namely another driving module carrier 38, wherein the flexible graphene inlaid on the second PDMS sheet is a second driving module 1B;
step S2, preparing a connection module:
s21, placing one side of a driving module carrier 38 with flexible graphene on a flat and smooth horizontal plane;
s22, mixing main materials and curing agents according to the proportion of (8-10): 1, covering the prepared PDMS solution 34 on one surface of the driving module carrier 38 without embedded flexible graphene in the step S21;
s23, removing bubbles in the PDMS solution covered in the step S22 on the paper sheet by using a vacuum pump;
s24, lightly paving one surface of the other driving module carrier 38 without the flexible graphene on the PDMS solution after removing the bubbles in the step S23, and enabling the rectangular flexible graphene 33 on the two driving module carriers 38 to be parallel up and down and each vertex to be on the same vertical line;
s25, placing the integral structure obtained in the step S24 on a horizontal plane position in a high-temperature incubator, and heating to solidify PDMS parts of the two driving module carriers 38 and the PDMS solution 34 covered in the step S23, wherein the obtained PDMS solidified structure is the connecting module 2;
the connecting module 2 and the driving modules (1A, 1B, flexible graphene) positioned at two sides of the connecting module jointly form the dielectric elastomer artificial muscle based on laser carbonization.
It should be noted that, the artificial muscle of the dielectric elastomer of the present invention is realized by cooperatively controlling the movement sequence of the driving module during the movement, as shown in fig. 2, the specific control sequence is: 1. the electrodes of the two driving modules (1A, 1B) are simultaneously connected with voltages with opposite phases respectively, the dielectric elastomer artificial muscle generates shape deformation, the upper and lower thickness is reduced, and the length and width are increased (reference numeral 21); 2. the dielectric elastomer artificial muscle quickly returns to its original shape and size (reference numeral 22) after the voltage is removed; the two steps are one control cycle of the artificial muscle of the dielectric elastomer.
The above description is only intended to explain the principles of the invention and should not be construed in any way as limiting the scope of the invention. Other embodiments of the invention will be apparent to those skilled in the art from consideration of this specification without undue burden.
Claims (1)
1. The preparation method of the dielectric elastomer artificial muscle based on laser carbonization comprises two groups of driving modules and a connecting module (2) positioned between the two groups of driving modules, wherein the two groups of driving modules are respectively a first driving module (1A) and a second driving module (1B), the two groups of driving modules are flexible carbon single-substance electrodes, and the flexible carbon single-substance electrodes are equal in area, same in shape and opposite and parallel in position; the connecting module (2) is positioned between the two groups of driving modules and is tightly attached to the two groups of driving modules; wherein, the connecting module (2) adopts the main material and the curing agent with the proportion of 8-10: 1. the manufactured polydimethylsiloxane is used as a connecting part material, and the driving module adopts flexible graphene obtained by carbonizing polyimide paper sheets by laser as a flexible carbon simple substance electrode; the motion of the dielectric elastomer artificial muscle is realized by coordinately controlling the motion sequence of each driving module, specifically: when the electrodes of the two groups of driving modules are respectively connected with voltages with opposite phases, mutual attractive force is generated between the electrodes of the two groups of driving modules, so that the polydimethylsiloxane software serving as the connecting module (2) between the two groups of electrodes is extruded to deform the shape; after the voltage is cancelled, the electrical property and the mutual attractive force of the electrodes disappear simultaneously, and the polydimethylsiloxane soft body is quickly restored to the original shape and size after being not extruded any more;
the preparation method is characterized by comprising the following steps of:
step S1, preparing a driving module:
s11, carrying out laser carbonization on a polyimide paper sheet (32) by using laser (31) to obtain a polyimide paper sheet with a continuous rectangular flexible graphene (33) in the middle;
s12, mixing main materials and a curing agent in a proportion of 8-10: 1. a polydimethylsiloxane solution (34) is poured on a polyimide paper sheet with one side of graphene (33), and the prepared polydimethylsiloxane solution (34) is covered on the polyimide paper sheet;
s13, removing bubbles in the polydimethylsiloxane solution on the polyimide paper sheet by using a vacuum pump, and then placing the polyimide paper sheet into a high-temperature incubator for heating to solidify the polydimethylsiloxane (36) after removing the bubbles;
s14, preparing a KOH solution with the weight of 20%, putting polyimide paper sheets with graphene into the KOH solution, corroding to remove all polyimide, taking out the rest polydimethylsiloxane sheets inlaid with flexible graphene, and cleaning;
s15, cutting out a polydimethylsiloxane sheet with a rectangular flexible graphene inlaid in the middle, and taking the polydimethylsiloxane sheet as a driving module carrier (38), wherein the flexible graphene inlaid on the polydimethylsiloxane sheet is a first driving module (1A);
repeating the steps S11-S15 to obtain a second polydimethylsiloxane sheet with rectangular flexible graphene inlaid in the middle,
namely another driving module carrier (38), and the flexible graphene inlaid on the carrier is a second driving module (1B);
step S2, preparing a connection module:
s21, placing one surface of a driving module carrier (38) with flexible graphene on a flat and smooth horizontal plane;
s22, mixing main materials and curing agents in a proportion of 8-10: 1. covering the prepared polydimethylsiloxane solution (34) on one surface of the driving module carrier (38) without embedded flexible graphene in the step S21;
s23, removing bubbles in the polydimethylsiloxane solution (34) covered in the step S22 by using a vacuum pump;
s24, lightly paving one surface of the other driving module carrier (38) without the flexible graphene on the polydimethylsiloxane solution (34) after removing the bubbles in the step S23, and enabling the rectangular flexible graphene (33) on the two driving module carriers (38) to be parallel up and down and each vertex to be located on the same vertical line;
s25, placing the integral structure obtained in the step S24 on a horizontal plane position in a high-temperature incubator, and heating to enable the polydimethylsiloxane parts of the two driving module carriers (38) to be solidified with the covered polydimethylsiloxane solution (34) in the step S23, wherein the obtained polydimethylsiloxane solidified structure is the connecting module (2);
the connecting module (2) and the two groups of driving modules (1A, 1B) positioned at two sides of the connecting module jointly form the dielectric elastomer artificial muscle based on laser carbonization.
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