CN114833831A - Method, system and application for light-driven artificial muscle to automatically and continuously fluctuate - Google Patents
Method, system and application for light-driven artificial muscle to automatically and continuously fluctuate Download PDFInfo
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- CN114833831A CN114833831A CN202210499688.7A CN202210499688A CN114833831A CN 114833831 A CN114833831 A CN 114833831A CN 202210499688 A CN202210499688 A CN 202210499688A CN 114833831 A CN114833831 A CN 114833831A
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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
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1669—Programme controls characterised by programming, planning systems for manipulators characterised by special application, e.g. multi-arm co-operation, assembly, grasping
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
Abstract
The invention provides a method, a device and an application for self-sustained fluctuation of a light-driven artificial muscle, wherein two ends of the bent artificial muscle are fixed, a driving light source irradiates the artificial muscle, the raw material of the artificial muscle is a photoinduced deformation high polymer material doped with a light absorbent, and the artificial muscle self-sustained generates local contraction and expansion from a bent structure under the stimulation of the driving light source to generate a wave structure, wherein the wave structure comprises but is not limited to: the artificial structure can spontaneously generate different waveforms under the irradiation of different structural light spots, the waveforms can be transmitted towards a certain direction, and the artificial muscle can realize structural programming of any creeping waves and further be applied to various wave control scenes.
Description
Technical Field
The invention relates to the field of energy mechanical conversion, in particular to a method and a system for light-driven artificial muscle to automatically and continuously fluctuate and application.
Background
A soft robot system with self-adaptive capability and autonomy is constructed, so that programmable shape deformation has application prospects in the aspects of science and engineering. For biological systems, such as gastropods and the like, the soft sheet tissues can be deformed into a three-dimensional wave form, and wave motion is generated through self-oscillation, so that the method is universal and simple and convenient in the aspects of self-propulsion, transportation and the like. However, in order to generate the wave motion manually, conventional robot systems require the integration of a number of discrete drives, each controlled and powered individually in a coordinated manner, which inevitably leads to complexity in the design, manufacture, control and powering of the wave system, especially when the size of a robot system is reduced to millimeters or even less, which becomes impossible.
The soft intelligent deformation material has the inherent intelligent deformation behavior of the material, can perform self-oscillation movement under the drive of constant and static energy, and can endow the artificial robot system with the autonomous intelligent characteristic, thereby effectively reducing the complexity of the system. Scientists and engineers have attempted to create wave motion in two types of deformable materials: gel materials and photosensitive liquid crystal polymers. The former uses the chemical oscillation generated by Belouzov-ZHABOBINSKY reaction to induce the gel to spontaneously generate swelling-eliminating oscillation to form wave-shaped deformation. However, gel materials must work in a wet environment, while most engineering applications work in a dry environment.
Despite the many creative efforts made before, the waves developed in artificial soft robotic systems so far have not reached the diversity category far in form and function compared to those observed from biological organisms. For example, wave motion on sea slug sheet footrests enables them to freely crawl on the seabed; peristaltic waves in the mammalian intestinal tract allow for smooth transport of food along the intestinal tract. That is to say, the current scheme of the soft robot is far from reaching the wave form of the living body layer, and the autonomous propagation of the waves can not be realized, so that the application in many fields such as propulsion and transportation is limited.
Disclosure of Invention
The invention aims to provide a method, a system and application for self-sustained fluctuation of a light-driven artificial muscle, and designs a light-responsive artificial muscle capable of freely contracting and expanding, wherein different waveforms can be spontaneously generated under the irradiation of different structural light spots and can be transmitted towards a certain direction, and the artificial muscle can realize structural programming of any peristaltic waves.
In order to achieve the above object, the present invention provides a method for light-driven artificial muscle to fluctuate automatically and continuously, comprising the following steps:
fixing two ends of a bent artificial muscle, and driving a light source to irradiate the artificial muscle, wherein the artificial muscle is made of a photoinduced deformation high polymer material doped with a light absorbent, and the artificial muscle generates local contraction and expansion from the bent structure in a self-sustaining manner under the stimulation of the driving light source to generate a wave structure, wherein the wave structure comprises but is not limited to: torsional waves, edge waves, central waves.
In a second embodiment, the present disclosure provides an apparatus for self-sustained wave motion of a light-driven artificial muscle, comprising: the artificial muscle is made of a light-induced deformation high polymer material doped with a light absorbent; providing an illumination device that drives a light source; fixing two ends of a bent artificial muscle, driving a light source to irradiate the artificial muscle, and generating local contraction and expansion of the artificial muscle by the bending structure in a self-sustained manner under the stimulation of the driving light source to generate a wave structure, wherein the wave structure comprises but is not limited to: torsional waves, edge waves, central waves.
In a third embodiment, the present disclosure provides an application of a method for self-sustained fluctuation of light-driven artificial muscles, which are applied to prepare a crawling robot to serve as an engine of the crawling robot to drive the crawling robot to advance through waves.
In a fourth aspect, the present disclosure provides an application of a method for self-sustaining wave motion of a light-driven artificial muscle, wherein the artificial muscle is applied to prepare a conveying device to serve as a conveyor belt of the conveying device for conveying objects driven by waves.
Compared with the prior art, the technical scheme has the following characteristics and beneficial effects: the photo-responsive artificial muscle capable of freely contracting and expanding is designed by using monomers containing mesogen as a photo-deformation material, and can spontaneously generate different wave modes under the irradiation of different structural light spots, including but not limited to: torsional waves, edge waves and central waves, and the generated wave forms can be propagated towards a certain direction, and in addition, the structural programming of any peristaltic waves can be realized.
Drawings
Fig. 1 is a preparation principle equation of an artificial muscle according to an embodiment of the present invention.
Fig. 2 is a process for preparing artificial muscles for a wave system driving unit according to an embodiment of the present invention.
Fig. 3 is a schematic diagram of three wave motion patterns of an artificial muscle and their corresponding patterned light spots according to an embodiment of the invention.
Fig. 4 is a diagram of a light driven self-sustained wave robot system generating torsional wave motion under light stimulation according to an embodiment of the present invention.
FIG. 5 is a diagram of an embodiment of a light-driven self-sustained wave robot system generating edge wave motion under light stimulation according to the present invention.
FIG. 6 is a light driven self-sustained wave robotic system generating a central wave motion under light stimulation according to an embodiment of the present invention.
Fig. 7 shows that the light-driven self-sustained wave robot system generates wave motion under light stimulation according to an embodiment of the present invention, and the applicable environment is gas, liquid or gas-liquid interface.
Fig. 8 is a diagram of a light-driven self-sustained wave robot system generating wave motion under concentrated sunlight stimulation according to an embodiment of the present invention.
FIG. 9 is a light driven self-sustained wave robotic system for a crawling robot according to an embodiment of the present invention.
FIG. 10 is a diagram of a light-driven self-sustained wave robot system for an object transport device according to an embodiment of the present invention.
FIG. 11 is a diagram of an optical drive self-sustained wave robot system for curved surfaces, twisted surfaces or dynamic surfaces according to an embodiment of the present invention.
FIG. 12 is a light driven self-sustained wave robotic system for different wave programming according to an embodiment of the present invention.
FIG. 13 is a light driven self-sustained wave robotic system for peristaltic wave programming according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments that can be derived by one of ordinary skill in the art from the embodiments given herein are intended to be within the scope of the present invention.
It will be understood by those skilled in the art that in the present disclosure, the terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in an orientation or positional relationship indicated in the drawings for ease of description and simplicity of description, and do not indicate or imply that the referenced devices or components must be constructed and operated in a particular orientation and thus are not to be considered limiting.
It is understood that the terms "a" and "an" should be interpreted as meaning that a number of one element or element is one in one embodiment, while a number of other elements is one in another embodiment, and the terms "a" and "an" should not be interpreted as limiting the number.
The scheme provides a method for self-sustained fluctuation of light-driven artificial muscles, which comprises the following steps:
fixing two ends of the bent artificial muscle, and driving a light source to irradiate any position of the artificial muscle, wherein the artificial muscle is made of a photoinduced deformation high polymer material doped with a light absorbent, and the artificial muscle is self-continuously contracted and expanded by a bending structure under the stimulation of the driving light source to generate a wave structure.
When using a light source of a structured light spot, the artificial muscle generates wave structures including, but not limited to: torsional waves, edge waves, and center waves. That is, the light-operated artificial muscle can generate at least three self-sustaining wave motion behaviors through the above motion modes: torsional waves, edge waves, central waves. Certainly, the wave structure of the artificial muscle is controllable, so that the adjustable and programmable peristaltic waves can be realized, and the control of the propagation track of any wave train can be realized.
When the light source with uniform light spots is used, the bent material can contract under the irradiation of the light spots with uniform light intensity, and the artificial muscle gradually tends to be in a straight state from a bent state.
Specifically, when the light intensity of the light spot of the driving light source is increased and decreased from the middle to two sides at intervals, the artificial muscle generates torsional waves, the amplitude of wave motion is 0-2.5 mm, and the frequency is 0-2 Hz; when the light intensity of the light spot of the driving light source is gradually decreased from the center to two sides, the artificial muscle generates edge waves, the amplitude of wave motion is 0-1.5 mm, and the frequency is 0-1 Hz; when light spots of the driving light source are gradually increased from the center to two sides, the artificial muscles generate central waves, the artificial muscles generate central wave motion, the amplitude of the wave motion is 0-1.0 mm, and the frequency is 0-2 Hz.
The scheme is characterized in that the scheme is self-sustaining: the artificial muscle can generate the wave structure under the irradiation of the driving light source without the action of other external force. Under sustained steady illumination of light, the artificial muscle will spontaneously continue to wave.
The driving light source irradiates the artificial muscle along a certain incident angle, so that the artificial muscle generates local contraction and expansion. The principle is as follows: the temperature in the light irradiation area of the artificial muscle is raised by the driving light source, and the increase of the internal pressure stress of the artificial muscle in the light irradiation area leads the artificial muscle to generate local deformation towards the out-of-plane direction. It is worth mentioning that the relaxation deformation of the artificial muscle is inversely proportional to the illumination of the light source, that is, the stronger the illumination of the light source is, the weaker the corresponding deformation of the artificial muscle is.
The scheme can realize free switching of different wave structures, wave frequencies and amplitudes by changing the incident angle, the light intensity, the light spot shape of the light source and the artificial shape and size of the driving light source. The method is a brand-new method for generating continuous wave motion by light drive, and has considerable potential application value in the fields of micro-mechanical systems, soft robots, new energy sources and the like.
Specifically, the light intensity of the driving light source is adjusted to adjust the movement rate of the artificial muscle to generate the wave structure, the movement rate is faster when the illumination is stronger, and the torsional wave frequency is 0-2 Hz; the edge wave frequency is 0-1 Hz, and the center wave frequency is 0-2 Hz; the shape of the light source light spot is adjusted to adjust the motion range of the wave structure generated by the artificial muscle.
In some embodiments, the driving light source is a non-uniform light spot having different light gradients, so that the artificial muscle in the light irradiation region correspondingly generates different waveforms and realizes directional propagation. Since the light source is inclined and has a light intensity gradient in the long axis direction of the artificial muscle, waves are generated from the side close to the light source, propagate, and disappear at the other end, so that the waves have certain directivity. In some embodiments, the non-uniform spot is formed by a reticle or gray scale pattern on which the light source generates a patterned structured spot. The image structured light spots can be generated by a commercial projector or other light source equipped with a photomask or gray scale pattern.
When a projector is used as a driving light source, a structural gray image is used as a structural light spot, and a gray photo is switched by a computer, the artificial muscle forms torsional waves, edge waves and central waves in situ, and different waves can be freely switched in situ.
When the near infrared light is used as a driving light source, the mask generates structural light spots, and different masks are switched in situ, the artificial muscle forms torsion waves, edge waves and central waves in situ, and different waves can be freely switched in situ.
The driving light source is any one of sunlight, ultraviolet light, visible light, blue light, red light and near infrared light, the selection of the driving light source depends on the type of the light absorbent for preparing the fiber actuator, and if the light absorbent absorbs the near infrared light, the near infrared light is selected to drive the light source. For example, if the light absorber is a croconium cyanine dye, near infrared light is selected as the driving light source.
The preparation method of the artificial muscle provided by the scheme comprises the following steps:
preliminarily forming the liquid crystal elastomer oligomer doped with the light absorbent by using a mold to obtain a sheet-shaped film precursor, carrying out unidirectional stretching on the sheet-shaped film precursor, then continuing to carry out crosslinking reaction to obtain a film, and cutting the film into a strip-shaped film with a certain size, thus obtaining the artificial muscle.
The sheet-shaped film precursor is provided with a weak crosslinking network formed through chemical crosslinking reaction, the formed sheet-shaped film precursor which is not completely crosslinked is taken out from a mould, then the sheet-shaped film precursor is subjected to uniaxial tensile strain, and after the tensile strain is fixed, the sheet-shaped film in a stretched state is induced and fixed through continuous chemical crosslinking reaction, so that the artificial muscle with multi-degree-of-freedom contraction expansion deformation is obtained.
That is, the artificial muscle of the scheme is a strip-shaped film material, and the photoinduced deformation high polymer material in the raw material is a liquid crystal elastomer oligomer. The liquid crystal elastomer oligomer is a monomer containing liquid crystal elements, the liquid crystal elastomer oligomer and a light absorber containing photothermal conversion are subjected to preliminary polymerization forming in a square mold in a manner of enol click reaction, Michael addition reaction, free radical polymerization and the like in a bonding or doping manner to obtain a flaky film precursor, the flaky film precursor is provided with a weak cross-linking network formed by chemical cross-linking reaction, when the flaky film precursor is axially stretched, the liquid crystal elements in the liquid crystal elastomer oligomer are oriented, and liquid crystal orientation is induced and fixed through the chemical cross-linking reaction after the stretching operation, so that the artificial muscle capable of being deformed by light is obtained.
In the stretching stage of the sheet-shaped film precursor, thiol groups and olefin groups are completely crosslinked and cured to obtain the artificial muscle with uniaxial orientation, and the artificial muscle can contract along the liquid crystal orientation direction and expand in the orthogonal direction when being illuminated.
The light absorber in the scheme can absorb light and convert the light into heat under the light irradiation, and the material of the light absorber can be organic material and inorganic material, and comprises carbon nano tubes, graphene, light absorption dye, light absorption ink and the like. And according to different reactions of the light absorbent to light, different driving light sources can be used for controlling the artificial muscle. The light absorbent doped in the artificial muscle generates a photo-thermal excitation effect under the irradiation of the driving light source, the temperature of the artificial muscle is increased by the light irradiation, and the deformation of a light irradiation area is further triggered by the temperature change. In some embodiments, the light absorber in the raw material of the artificial muscle is selected to be a near-infrared absorbing dye, when the artificial muscle is capable of converting near-infrared light into heat to effect light stimulation to produce deformation. Of course, the light absorbent can be adjusted to absorb the light absorbent of other wave bands according to the requirement so as to realize that the artificial muscle takes the light source of different wave bands as the photoinduced deformation effect.
In a specific embodiment, the components of the sheet-like film precursor can be selected from a liquid crystal monomer containing acrylate double bonds, a combined monomer containing a thiol group crosslinking agent and a light absorbent, the combined monomer is dissolved in an organic solvent to obtain a mixed solution, a catalyst is added to catalyze the combined monomer to perform chemical crosslinking after the mixed solution is vibrated and uniformly mixed, and the mixed solution is placed in a mold to be primarily cured to form the sheet-like film precursor.
In an embodiment of the present disclosure, the liquid crystal elastomer oligomer is obtained by enol click reaction, wherein the liquid crystal monomer containing acrylate double bond is RM82, the monomer containing thiol group is DODT or PETMP, and the light absorber is croconium cyanine dye containing acrylate reactive group, and at this time, the corresponding artificial muscle can respond to near infrared light and select RM 82: molar ratio of croconium cyanine dye 9: 1, DODT: the PETMP molar ratio is 3: 1, reactant thiol group: acrylate group molar ratio of 1: 1, the organic solvent is selected to be dichloromethane. Of course, other monomers satisfying this condition can be used as the material of the artificial muscle precursor.
The catalyst can also be (DPA di-N-propylamine, HexAM hexylamine, TEA triethylamine, N, N, N) 0 ，N 0 -tetramethyl-1, 8-naphthalenediamine (PS) and 1, 8-diazohetero-bis-spiro [5.4.0 ]]Undec-7-ene; 1, 8-diazabicyclo [5.4.0 ]]Undec-7-ene (DBU) and 15-diazabicyclo [4.3.0]Non-5-ene (DBN), etc., 4 wt% of DPA was selected as the catalyst in this example.
In the stretching stage, the film can be stretched by 10-100% and fixed for 24-48 h. The embodiment of the scheme stretches the film by 50 percent; in addition, in one embodiment of the present disclosure, the film is stretched and then fixed for 24 hours.
The thickness of the artificial muscle film obtained by the scheme is 90-200 mu m, the width is 2-6 mm, the length is 6-40 mm, the artificial muscle material is a photoinduced deformation material, and the artificial muscle can contract, expand and deform under the illumination stimulation.
This scheme provides a light-driven artificial muscle is from device that continues fluctuation, includes:
the artificial muscle is made of a light-induced deformation high polymer material doped with a light absorbent;
providing an illumination device that drives a light source;
the two ends of the bent artificial muscle are fixed, the driving light source irradiates any position of the artificial muscle, and the artificial muscle generates local contraction and expansion to generate a wave structure under the stimulation of the driving light source.
In some embodiments, the illumination device is a commercial projector or other light source equipped with a photomask or grayscale to provide a driving light source of structured light patterns.
The technical features mentioned in the second embodiment are the same as those of the first embodiment, and repeated technical features are not redundantly described here.
The scheme provides application of a method or a device for realizing self-continuous fluctuation of light-driven artificial muscles, wherein the artificial muscles are applied to preparing a crawling robot and used as an engine of the crawling robot to drive the crawling robot to advance through waves. The artificial muscle is applied to a preparation conveyor as a conveyor belt of the conveyor for transport by wave-driven objects.
In addition, three different waveforms can be generated by the scheme: torsional waves, edge waves, central waves. The capability of generating programmable peristalsis by utilizing the concave-convex fluctuation of the central wave is utilized, and because the light spot pattern of the driving light source can be manually adjusted according to the needs of people, the peristalsis can be generated at any position on the artificial muscle by changing the programmable light spot pattern, and the propagation tracks of the peristalsis wave train, such as a diamond track, a triangular track and the like, can be randomly controlled.
In some embodiments, the artificial muscle is placed in various gaseous environments, and high damping liquid environments.
In some embodiments, the artificial muscles are placed on various curves, twisted curves, dynamic curves, and clothing.
In order to verify the technical content of the present solution, specific embodiments are provided below for illustration:
preparation example 1:
preparing the artificial muscle:
according to RM 82: molar ratio of croconium cyanine dye 9: 1, DODT: the PETMP molar ratio is 3: 1, reactant thiol group: acrylate group molar ratio of 1: 1, selecting dichloromethane as an organic solvent, shaking for 30s, uniformly mixing, adding 4 wt% of DPA (dinitrophenol) as a catalyst into the mixed solution, after shaking and dissolving, pouring the precursor solution into a 3cm 0.5cm square mould, reacting at room temperature for 3h, and carefully stripping from the mould to obtain a film precursor which is not completely crosslinked; and stretching the prepared incompletely crosslinked film by 50% by stretching and fixing for 24h to enable the thiol group and the acrylate group to be completely reacted, crosslinked and cured to obtain the monodomain-oriented liquid crystal elastomer film. Finally, the rectangular structure of the strip shape cut out by a blade in parallel to the orientation direction is used as an artificial muscle.
Example 1:
a method for generating torsional waves by self-sustained fluctuation of light-driven artificial muscles comprises the following steps:
the artificial muscle obtained in preparation example 1 had a length of 15mm, a width of 3mm, a thickness of 0.12mm, and a constant interval of 12mm between both ends, as shown in FIG. 2; irradiating the artificial muscle by using a near-infrared light source, wherein the spot size of the near-infrared light source is 15mm multiplied by 15mm, and the light intensity is 0.15W cm -2 Incident angle 20 deg., the structural spot is shown in fig. 3.
As a result: as shown in FIG. 4, after the near infrared light source is turned on, the artificial muscle generates continuous torsional wave motion behavior with frequency and amplitude of 0.7Hz and 1.7mm, respectively. The lower graph of fig. 4 illustrates the periodic variation of amplitude and frequency of the torsional wave motion.
Example 2:
a method for generating edge waves by self-sustained fluctuation of light-driven artificial muscles comprises the following steps:
the experiment of example 1 was repeated except that the intensity of the near infrared light was-0.2W cm-2, the angle of incidence was 30 deg., and the structural spot was as shown in FIG. 3.
As a result: as shown in FIG. 5, after the near infrared light source is turned on, the artificial muscle generates continuous torsional wave motion behavior with frequency and amplitude of 0.4Hz and 1.5mm, respectively. The lower graph of fig. 5 illustrates the periodic variation of the amplitude and frequency of the edge wave motion.
Example 3:
a method for generating a central wave by self-sustaining fluctuation of light-driven artificial muscle comprises the following steps:
the experiment of example 1 was repeated except that the intensity of the near infrared light was-0.3W cm-2, the angle of incidence was 30 deg., and the structural spot was as shown in FIG. 3.
As a result: as shown in FIG. 6, after turning on the near infrared light source, the artificial muscle produced a continuous twisting wave motion behavior with a frequency and amplitude of 1.5Hz and 0.7mm, respectively. The lower graph of fig. 6 illustrates the periodic variation of the amplitude and frequency of the central wave motion.
Example 4: the light-driven self-continuous wave robot system in the fluid generates torsional wave motion behavior under illumination:
the experiment of example 1 was repeated except that the artificial muscle was immersed in the liquid or at the gas-liquid interface and the structured light spot was as shown in fig. 3.
The result is shown in fig. 7, where the fiber actuator generates a continuous wave motion in the fluid interface or fluid under light stimulation after the near infrared light source is turned on.
It can be seen that the artificial muscle of the present solution can generate a sustained wave motion in water, silicone oil, saturated salt water, milk and diluted milk.
Example 5: the light-driven self-sustained fluctuation robot system generates wave motion under the stimulation of concentrated sunlight:
the experiment of example 1 was repeated except that the light source used was concentrated sunlight. The concentrated sunlight is generated by directly irradiating sunlight on a Fresnel lens with the diameter of 20cm and the focal length of 12.5cm, and the structural light spot is shown in figure 3.
As a result: as shown in fig. 8: the artificial muscle can generate continuous wave motion under the irradiation of concentrated sunlight: torsional waves, edge waves, central waves.
Example 6: application of light-driven self-continuous fluctuation robot system to crawling robot
The artificial muscle obtained in preparation example 1 was fixed in a square frame (outer frame 15mm by 6mm by 1mm, inner frame 12mm by 4mm by 1 mm).
As a result: as shown in fig. 9: under illumination, the artificial muscles generate wave motion, and the crawling robot can move directionally by utilizing the wave motion.
Example 7: application of light-driven self-continuous fluctuation robot system to transmission device
The artificial muscle obtained in preparation example one was fixed at both ends to an inclined glass plate (the artificial muscle was 42mm long, the fixed distance between both ends was 35mm, and the inclination angle of the glass was 15 °).
As a result: as shown in fig. 10: under illumination, the flexible conveyer belt is used as a flexible motor and a conveyer belt, and goods (with the mass of 0.15g) are conveyed by overcoming the gravity.
Example 8: application of light-driven self-continuous fluctuation robot system on curved surface
The artificial muscle obtained in preparation example one was fixed to a plastic sheet at both ends (the artificial muscle was 30mm long and the fixed distance was 25mm at both ends).
As a result: as shown in fig. 11: the flexible substrate can work on the surface of a curved substrate under light, can also work on the surface of a twisted substrate, can even adapt to the complex surface of dynamic bending, and shows excellent mechanical plasticity.
Example 9: application of light-driven self-continuous fluctuation robot system in wave-type programming
The experiment of example 1 was repeated except for the structural spot pattern, which is shown as an inset in fig. 12.
As a result: as shown in fig. 12: waves can be generated on two sides of the artificial muscle by controlling the patterned light spots, waves can be generated only on one side of the artificial muscle, waves with different amplitudes can be generated on two sides of the artificial muscle, and edge waves and central waves can be combined to form a mixed travelling wave.
Example 10: application of light-driven self-continuous fluctuation robot system in peristaltic wave programming
The experiment of example 1 was repeated except for the artificial muscle size (width 6mm) and the pattern of structural spots as shown in the inset in figure 13.
As a result: as shown in fig. 12: because the patterns of the light spots can be manually adjusted according to the needs of people, the propagation tracks of the wave trains, such as triangular tracks, rhombic tracks and S-shaped tracks, can be controlled at will; one wave train may be made to travel along a linear trajectory while the other wave train travels along a multi-line trajectory motion, which may be used to propel two objects to produce different motion trajectories.
The present invention is not limited to the above preferred embodiments, and any other various products can be obtained by anyone in light of the present invention, but any changes in shape or structure thereof, which are similar or identical to the technical solution of the present invention, fall within the protection scope of the present invention.
Claims (10)
1. A method of light-driven artificial muscle self-sustaining fluctuation, comprising the steps of:
fixing two ends of a bent artificial muscle, and driving a light source to irradiate the artificial muscle, wherein the artificial muscle is made of a photoinduced deformation high polymer material doped with a light absorbent, and the artificial muscle generates local contraction and expansion from the bent structure in a self-sustaining manner under the stimulation of the driving light source to generate a wave structure, wherein the wave structure comprises but is not limited to: torsional waves, edge waves, central waves.
2. The method for the self-sustaining wave motion of the light-driven artificial muscle as claimed in claim 1, wherein when the light intensity of the light spot of the driving light source decreases from the center to the two sides, the artificial muscle generates edge waves, the amplitude of the wave motion is 0-1.5 mm, and the frequency is 0-1 Hz; when the light spots of the driving light source are gradually increased from the center to two sides by the light intensity, the artificial muscles generate central waves, the artificial muscles generate central wave motion, the amplitude of the wave motion is 0-1.0 mm, and the frequency is 0-2 Hz.
3. The method of claim 1, wherein the light source is driven to raise the temperature of the light irradiation region of the artificial muscle, and the increase of the in-plane compressive stress of the artificial muscle in the light irradiation region causes the artificial muscle to locally deform in the out-of-plane direction.
4. The method of claim 1, wherein the light source is driven to be non-uniform light spots having different light gradients.
5. The method of claim 4, wherein the non-uniform light spot is a pattern-structured light spot generated by a light source on a reticle or a gray pattern.
6. The method of claim 1, wherein the artificial muscle is obtained by primarily molding a liquid crystal elastomer oligomer doped with a light absorbing agent with a mold to obtain a sheet-like film precursor, subjecting the sheet-like film precursor to uniaxial stretching, then continuing to perform a crosslinking reaction to obtain a film, and cutting the film into a strip-like film, wherein the liquid crystal elastomer oligomer is a monomer containing mesogens.
7. The method for self-sustaining wave motion of light-driven artificial muscle as claimed in claim 1, wherein the artificial muscle has a membrane thickness of 90-200 μm, a width of 2-6 mm and a length of 6-40 mm.
8. An apparatus for self-sustaining wave motion of a light-driven artificial muscle, comprising: the artificial muscle is made of a light-induced deformation high polymer material doped with a light absorbent;
providing an illumination device that drives a light source;
fixing two ends of the bent artificial muscle, irradiating any position of the artificial muscle by a driving light source, and generating a wave structure by the artificial muscle self-sustainably generating local contraction and expansion from the bent structure under the stimulation of the driving light source, wherein the wave structure comprises but is not limited to: torsional waves, edge waves, central waves.
9. Application of a method for self-sustained fluctuation of light-driven artificial muscles is characterized in that the artificial muscles are applied to prepare a crawling robot to serve as an engine of the crawling robot to drive the crawling robot to advance through waves.
10. Use of a method for the self-sustaining wave motion of light-driven artificial muscles, characterized in that the artificial muscles are used to prepare a transport device as a conveyor belt for the transport of a wave-driven object.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210499688.7A CN114833831B (en) | 2022-05-09 | 2022-05-09 | Method, system and application for driving artificial muscle to automatically and continuously fluctuate |
| PCT/CN2022/096521 WO2023216343A1 (en) | 2022-05-09 | 2022-06-01 | Light-driven spontaneous and continuous waving method for artificial muscle, and system and applications |
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| CN202210499688.7A CN114833831B (en) | 2022-05-09 | 2022-05-09 | Method, system and application for driving artificial muscle to automatically and continuously fluctuate |
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| WO2023216343A1 (en) | 2023-11-16 |
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