CN114833831B - Method, system and application for driving artificial muscle to automatically and continuously fluctuate - Google Patents
Method, system and application for driving artificial muscle to automatically and continuously fluctuate Download PDFInfo
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- CN114833831B CN114833831B CN202210499688.7A CN202210499688A CN114833831B CN 114833831 B CN114833831 B CN 114833831B CN 202210499688 A CN202210499688 A CN 202210499688A CN 114833831 B CN114833831 B CN 114833831B
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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 driving artificial muscles to automatically and continuously fluctuate, two ends of a bent artificial muscle are fixed, a driving light source irradiates the artificial muscle, wherein the raw material of the artificial muscle is a photoinduced deformation polymer material doped with a light absorbent, the artificial muscle automatically and continuously generates local contraction and expansion by the bending structure under the stimulation of the driving light source to generate a wave structure, and 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 propagate towards a certain direction, and the artificial muscle can realize the structural programming of any peristaltic waves, so that the artificial structure is applied to various wave control scenes.
Description
Technical Field
The invention relates to the field of energy mechanical conversion, in particular to a method, a system and application for driving self-sustained fluctuation of artificial muscles by light.
Background
A soft robot system with self-adaptive capability and autonomy is constructed, so that the shape deformation with programmability has application prospect in science and engineering. For biological systems, such as gastropods, the soft sheet tissues can be deformed into three-dimensional wave forms, wave motions are generated through self-oscillation, and a universal and simple method is provided in the aspects of automatic propulsion, transportation and the like. However, in order to manually generate wave motion, conventional robotic systems require integration of a number of discrete drives, each of which is individually controlled and powered in a coordinated manner, which inevitably results in complexity of the wave system in terms of design, manufacture, control and power, especially as the size of one robotic system shrinks to millimeter or even smaller, which becomes impossible.
The soft intelligent deformation material has the inherent intelligent deformation behavior of the material, can perform self-oscillation motion 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 make wave motions from two deformation materials: gel materials and photosensitive liquid crystal polymers. The former uses chemical oscillation generated by Belouzov-Zhabotinisky reaction to induce spontaneous swelling-swelling oscillation of gel to form wave-like deformation. However, gel materials must work in a wet environment, while most engineering applications work in a dry environment.
Despite the many creative efforts previously made, the waves developed in artificial soft robotic systems to date still far fall short of the diverse category in morphology and function compared to that observed from biological organisms. For example, wave motion on the slug sheet pedal allows them to crawl freely on the seabed; peristaltic waves in the mammalian intestinal tract allow smooth transport of food along the intestinal tract. That is, the current soft robot scheme still can not reach the wave form of life body level far away, can't realize the autonomous propagation of wave, and then has limited the application in a great deal of fields such as propulsion, transportation.
Disclosure of Invention
The invention aims to provide a method, a system and an application for driving self-sustained fluctuation of an artificial muscle by light, and designs an optical response artificial muscle capable of freely contracting and expanding, which can spontaneously generate different waveforms under the irradiation of different structural light spots, the waveforms can be spread towards a certain direction, and the artificial muscle can realize structural programming of any peristaltic wave.
In order to achieve the above object, the present invention provides a method for driving artificial muscle to self-continuously fluctuate, comprising the following steps:
fixing two ends of the bent artificial muscle, and driving a light source to irradiate the artificial muscle, wherein the raw material of the artificial muscle is a photoinduced deformation polymer material doped with a light absorbent, and the artificial muscle is self-sustained to generate local contraction and expansion by the 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: torsional, edge, center waves.
In a second embodiment, the present disclosure provides an apparatus for driving self-sustained fluctuation of an artificial muscle, comprising: an artificial muscle, wherein the raw material of the artificial muscle is a photoinduced deformation polymer material doped with a light absorber; providing an illumination device driving a light source; fixing two ends of the bent artificial muscle, and driving the light source to irradiate the artificial muscle, wherein the artificial muscle generates local contraction and expansion by the bending structure to generate a wave structure under the stimulation of the driving light source, and the wave structure comprises but is not limited to: torsional, edge, center waves.
In a third embodiment, the present solution provides an application of a method for driving self-sustained fluctuation of an artificial muscle applied to a preparation of a crawling robot as an engine of the crawling robot to drive the crawling robot to advance by waves.
In a fourth aspect, the present solution provides an application of a method for driving artificial muscles to self-sustain wave motion by light, wherein the artificial muscles are applied to prepare a conveying device as a conveyor belt of the conveying device to drive objects to be conveyed by waves.
Compared with the prior art, the technical scheme has the following characteristics and beneficial effects: the use of monomers containing mesogens as a photodeformable material is designed to provide a light responsive artificial muscle capable of free contraction and expansion that spontaneously generates different modes under irradiation with spots of different structure, including but not limited to: torsional waves, edge waves, central waves, and the generated waveforms can propagate in a certain direction, and in addition, the structural programming of any peristaltic waves can be realized.
Drawings
Fig. 1 is a schematic equation of the preparation of artificial muscle according to an embodiment of the present invention.
Fig. 2 is a process preparation method of artificial muscles of a driving unit of a wave system according to an embodiment of the present invention.
Fig. 3 is a schematic diagram of three wave motion patterns of an artificial muscle and its corresponding patterned spots according to an embodiment of the present invention.
FIG. 4 is a diagram of an optically driven self-sustaining wave robotic system producing torsional wave motion under optical stimulus, in accordance with an embodiment of the present invention.
FIG. 5 is a schematic illustration of an optically driven self-sustaining wave robotic system producing edge wave motion under optical stimulus, in accordance with an embodiment of the present invention.
FIG. 6 is a schematic illustration of a light driven self-sustaining wave robotic system producing a center wave motion under light stimulation, in accordance with an embodiment of the present invention.
FIG. 7 illustrates a light driven self-sustaining wave robotic system that generates wave motion under light stimulation in accordance with one embodiment of the present invention, with the applicable environment being a gas, liquid, or gas-liquid interface.
Fig. 8 is a schematic diagram of an optically driven self-sustaining wave robotic system for generating wave motion under concentrated sunlight stimulation, in accordance with an embodiment of the present invention.
Fig. 9 is an illustration of an optical drive self-sustaining wave robotic system for a crawling robot in accordance with an embodiment of the present invention.
Fig. 10 is a schematic diagram of an optical drive self-sustained wave robot system for an object transfer device according to an embodiment of the present invention.
FIG. 11 is a schematic illustration of an optical drive self-sustaining wave robotic system for curved, toric or dynamic surfaces, in accordance with an embodiment of the present invention.
FIG. 12 is a schematic illustration of an optical drive self-sustaining wave robotic system for different wave programming, in accordance with an embodiment of the present invention.
FIG. 13 is a diagram of an optical drive self-sustaining wave robotic system for peristaltic wave programming, in accordance with an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which are derived by a person skilled in the art based on the embodiments of the invention, fall within the scope of protection of the invention.
It will be appreciated by those skilled in the art that in the present disclosure, the terms "longitudinal," "transverse," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," etc. refer to an orientation or positional relationship based on that shown in the drawings, which is merely for convenience of description and to simplify the description, and do not indicate or imply that the apparatus or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore the above terms should not be construed as limiting the present invention.
It will be understood that the terms "a" and "an" should be interpreted as referring to "at least one" or "one or more," i.e., in one embodiment, the number of elements may be one, while in another embodiment, the number of elements may be plural, and the term "a" should not be interpreted as limiting the number.
The scheme provides a method for driving artificial muscle to automatically and continuously fluctuate, which comprises the following steps:
fixing two ends of the bent artificial muscle, and driving the light source to irradiate any position of the artificial muscle, wherein the raw material of the artificial muscle is a photoinduced deformation polymer material doped with a light absorbent, and the artificial muscle is self-continuously contracted and expanded by the flexible structure to generate a wave structure under the stimulation of the driving light source.
When a light source of a structured light spot is utilized, the artificial muscle produces a wave structure including, but not limited to: torsional waves, edge waves, and center waves. That is, by the above movement mode, at least three self-sustaining wave movement behaviors of the light-operated artificial muscle can be realized: torsional, edge, center waves. Of course, because the wave structure of the artificial muscle of the scheme is controllable, the scheme can also realize adjustable and programmable peristaltic waves, thereby realizing the control of the propagation track of any wave train.
When a light source with uniform light spots is used, the bent material can shrink 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 or decreased from the middle to the two sides at intervals, the artificial muscle generates torsion 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 decreases from the center to the 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 the light spot of the driving light source increases from the center to the two sides, the artificial muscle generates a 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 self-sustained mode is as follows: the artificial muscle can generate a wave structure only under the irradiation of the driving light source without other external force. Under constant steady irradiation of light, the artificial muscle will spontaneously wave continuously.
The driving light source irradiates the artificial muscle along a certain incident angle to cause the local contraction and expansion of the artificial muscle. The principle is as follows: the driving light source increases the temperature of the artificial muscle light irradiation area, and the increase of the internal pressure stress of the artificial muscle surface of the light irradiation area leads to the local deformation of the artificial muscle 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, the weaker the corresponding deformation of the artificial muscle.
According to the scheme, the free switching of different wave structures, wave frequencies and amplitudes can be realized by changing the incidence angle, the light intensity, the light spot shape and the artificial shape size of the driving light source. The method is a brand new method for generating continuous wave motion by optical driving, 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 a driving light source is regulated to regulate the motion rate of the wave structure generated by artificial muscles, the stronger the illumination is, the faster the motion rate is, and the torsion wave frequency is 0-2 Hz; the frequency of the edge wave is 0-1 Hz, and the frequency of the center wave is 0-2 Hz; the light source spot shape 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 illumination gradients so that artificial muscles of the illuminated region correspondingly produce different waveforms and achieve directional propagation. Since the light source is inclined with a light intensity gradient along the long axis of the artificial muscle, waves are generated from a side close to the light source, propagated, and disappeared at the other end, so that the waves have a certain directivity. In some embodiments, the non-uniformity spot is formed by a reticle or grayscale pattern on which the light source produces a patterned structured spot. The image structured light spot may be generated by a commercial projector or other light source equipped with a photomask or gray scale.
When the projector is used as a driving light source and the structural gray image is used as a structural light spot, and the gray image is switched by a computer, the artificial muscle forms torsional waves, edge waves and central waves in situ, and different waves can be switched freely in situ.
When the near infrared light is used as a driving light source, the mask plate generates structural light spots, and different mask plates are switched in situ, the artificial muscles form torsional waves, edge waves and central waves in situ, and different waves can be switched in situ freely.
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 light absorber for preparing the fiber actuator, and if the light absorber absorbs the near infrared light, the near infrared light driving light source is selected. For example, if the light absorber is a croconic 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:
and (3) preliminarily molding the liquid crystal elastomer oligomer doped with the light absorber by using a die to obtain a sheet-shaped film precursor, carrying out unidirectional stretching on the sheet-shaped film precursor, continuing the crosslinking reaction to obtain a film, and cutting the film into a strip-shaped film with a certain size to obtain the artificial muscle.
The sheet film precursor is provided with a weak crosslinking network formed through chemical crosslinking reaction, the formed sheet film precursor which is not completely crosslinked is taken out from a die, then the sheet film precursor is subjected to uniaxial tensile strain, and after the tensile strain is fixed, the sheet film in a stretched state is induced and fixed through continuous chemical crosslinking reaction, so that the artificial muscle with multiple degrees of freedom of contraction, expansion and deformation is obtained.
That is, the artificial muscle of the scheme is a strip-shaped film material, and the photo-induced deformation 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 photo-absorbent containing photo-thermal conversion are subjected to enol click reaction, michael addition reaction, free radical polymerization and the like in a bonding or doping mode, a flaky film precursor obtained by preliminary polymerization molding in a square mold is provided with a weak crosslinking network formed by chemical crosslinking reaction, when the flaky film precursor is axially stretched, the liquid crystal elements in the liquid crystal elastomer oligomer are oriented, and after stretching operation, the liquid crystal orientation is induced and fixed by the chemical crosslinking reaction, so that the photoinduced deformable artificial muscle is obtained.
In the stretching stage, the thiol group and the olefin group are fully crosslinked and cured to obtain the artificial muscle with uniaxial orientation, and the artificial muscle can shrink along the orientation direction of the liquid crystal 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 irradiation of light, and the material of the light absorber can be an organic material and an 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 absorber to the illumination, different driving light sources can be used for controlling the artificial muscle. The light absorber doped in the artificial muscle generates a photo-thermal excitation effect under the irradiation of the driving light source, the light irradiation can raise the temperature of the artificial muscle, and the temperature change further triggers the deformation of the light irradiation area. In some embodiments, the light absorber in the raw material of the artificial muscle is selected to be a near infrared absorbing dye, at which time the artificial muscle is capable of converting near infrared light into heat to effect a photo stimulus to produce deformation. Of course, the light absorber can be adjusted to absorb light absorbers of other wave bands according to requirements, so that the artificial muscle can take light sources of different wave bands as light-induced deformation effects.
In a specific embodiment, the components of the flaky film precursor can be selected from a liquid crystal monomer containing acrylate double bonds, a crosslinking agent containing a thiol group and a combination monomer of a light absorber, wherein the combination monomer is dissolved in an organic solvent to obtain a mixed solution, the mixed solution is vibrated and mixed uniformly, then a catalyst is added to catalyze the combination monomer to perform chemical crosslinking, and the mixture is placed in a mold for preliminary curing to form the flaky 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 an acrylate double bond is selected from RM82, the monomer containing a thiol group is selected from DODT and PETMP, the light absorber is selected from croconic cyanine dye containing an acrylate reactive group, and the corresponding artificial muscle can respond to near infrared light by selecting RM82: croconic cyanine dye molar ratio 9:1, DODT: the PETMP molar ratio is 3:1, reactant thiol groups: the molar ratio of acrylate groups is 1:1, the organic solvent is selected to be dichloromethane. Of course, other monomers that meet this condition may also be used as materials for the artificial muscle precursor.
The catalyst can also be selected from (DPA di-N-propylamine, hexAM hexylamine, TEA triethylamine, N, N 0 ，N 0 -tetramethyl-1, 8-naphthalene diamine (PS) and 1, 8-diazabicyclo [5.4.0 ]]Undec-7-ene; 1, 8-diazabicyclo [5.4.0]Undec-7-ene (DBU) and 1 5-diazabicyclo [4.3.0]Non-5-ene (DBN), etc., 4wt% DPA was used as the catalyst in this example.
In the stretching stage, the film can be stretched by 10-100% and fixed for 24-48h. Examples of this protocol stretch the film by 50%; in addition, in one embodiment of the present embodiment, the film is stretched and then secured for 24 hours.
The artificial muscle film obtained by the scheme has the thickness of 90-200 mu m, the width of 2-6 mm and the length of 6-40 mm, and the artificial muscle material is a photoinduced deformation material, and can produce shrinkage, expansion and deformation under the irradiation stimulation.
The scheme provides a device that light drive artificial muscle is from continuing undulant, includes:
an artificial muscle, wherein the raw material of the artificial muscle is a photoinduced deformation polymer material doped with a light absorber;
providing an illumination device driving a light source;
fixing two ends of the bent artificial muscle, driving the light source to irradiate any position of the artificial muscle, and generating local contraction and expansion of the artificial muscle 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 gray scale to provide a driving light source of the structured light pattern.
Regarding the technical features mentioned in the second embodiment are the same as those of the first embodiment, and repeated technical features are not described here in detail.
The scheme provides application of a method or device for driving self-sustained fluctuation of artificial muscles by light, wherein the artificial muscles are applied to preparation of a crawling robot to serve as an engine of the crawling robot to drive the crawling robot to advance through waves. The artificial muscle is applied to prepare a conveyor as a conveyor belt for driving objects to be transported by waves.
In addition, three different waveforms can be generated due to the scheme: torsional, edge, center waves. By utilizing the capability of generating programmable peristalsis by the concave-convex fluctuation of the central wave, the light spot pattern of the driving light source can be manually adjusted according to the needs of people, and the peristalsis can be generated by changing any position of the light spot pattern with the programmability on artificial muscles, so that the propagation track of peristaltic wave trains, such as diamond tracks, triangle tracks and the like, can be arbitrarily controlled.
In some embodiments, the artificial muscle is placed in various gaseous environments, as well as in highly damped liquid environments.
In some embodiments, the artificial muscle is placed in various curved surfaces, torsion curved surfaces, dynamic curved surfaces, and clothing.
In order to verify the technical content of the present solution, specific examples are provided below for illustration:
preparation example 1:
preparation of artificial muscle:
according to RM82: croconic cyanine dye molar ratio 9:1, DODT: the PETMP molar ratio is 3:1, reactant thiol groups: the molar ratio of acrylate groups is 1:1, selecting an organic solvent as dichloromethane, shaking for 30s, uniformly mixing, adding 4wt% of DPA serving as a catalyst into the mixed solution, shaking for dissolving, pouring the precursor solution into a square mold with the thickness of 3cm & lt 3 & gtcm & lt 0.5 & gt, reacting for 3h at room temperature, and carefully stripping from the mold to obtain a film precursor which is not fully crosslinked; and stretching 50% of the prepared film which is not fully crosslinked, and fixing for 24 hours to enable the thiol group and the acrylic ester group to fully react, crosslink and solidify to obtain the liquid crystal elastomer film with single domain orientation. Finally, a strip-shaped rectangular structure is cut with a blade in parallel to the orientation direction for use as an artificial muscle.
Example 1:
a method for generating torsional waves by driving artificial muscles to self-sustain fluctuations by light comprises the following steps:
the artificial muscle obtained in preparation example 1 has a length of 15mm, a width of 3mm, a thickness of 0.12mm, and a fixed distance of 12mm between both ends, as shown in FIG. 2; irradiating artificial muscle with near infrared light source with spot size of 15mm×15mm and light intensity of 0.15W cm -2 The angle of incidence is 20 deg., and the structured light spot is shown in figure 3.
Results: as shown in FIG. 4, after the near infrared light source was turned on, the artificial muscle produced continuous torsional wave motion behavior with frequencies and amplitudes of 0.7Hz and 1.7mm, respectively. The lower graph of fig. 4 illustrates the periodic variation in amplitude and frequency of the torsional wave motion.
Example 2:
a method for generating edge waves by driving artificial muscles to automatically and continuously fluctuate comprises the following steps:
the experiment of example 1 was repeated except that the near infrared light intensity was 0.2W cm-2 and the incident angle was 30℃and the structured light spots were as shown in FIG. 3.
Results: as shown in FIG. 5, after the near infrared light source was turned on, the artificial muscle produced continuous torsional wave motion behavior with frequencies and amplitudes of 0.4Hz and 1.5mm, respectively. The lower graph of fig. 5 illustrates the periodic variation in amplitude and frequency of the edge wave motion.
Example 3:
a method for generating a central wave by driving artificial muscle to automatically and continuously fluctuate comprises the following steps:
the experiment of example 1 was repeated except that the near infrared light intensity was 0.3W cm-2 and the incident angle was 30℃and the structured light spots were as shown in FIG. 3.
Results: as shown in FIG. 6, after the near infrared light source was turned on, the artificial muscle produced continuous torsional wave motion behavior with frequencies and amplitudes of 1.5Hz and 0.7mm, respectively. The lower graph of fig. 6 illustrates the periodic variation in amplitude and frequency of this center wave motion.
Example 4: the optical drive self-sustained fluctuation robot system in the fluid generates torsion wave motion behavior under illumination:
the experiment of example 1 was repeated except that the artificial muscle was immersed in a liquid or at the gas-liquid interface, with the structured light spots as shown in fig. 3.
As a result, as shown in fig. 7, after the near infrared light source is turned on, the fiber actuator generates continuous wave motion in the fluid interface or fluid under the light stimulus.
It can be seen that the artificial muscle of this solution produces a continuous wave motion in all of water, silicone oil, saturated saline, milk and diluted milk.
Example 5: the light-driven self-sustained wave robot system generates wave motion under the stimulus of concentrated sunlight:
the experiment of example 1 was repeated except that the light source used was concentrated sunlight. The generation of concentrated sunlight is carried out by directly irradiating sunlight on a Fresnel lens with the diameter of 20cm and the focal length of 12.5cm, and the structural light spots are shown in figure 3.
Results: as shown in fig. 8: the artificial muscle can generate continuous wave motion under the irradiation of concentrated sunlight: torsional, edge, center waves.
Example 6: application of optical drive self-sustained fluctuation robot system for crawling robot
The artificial muscle obtained in preparation example 1 was fixed in a square frame (outer frame 15mm x 6mm x 1mm, inner frame 12mm x 4mm x 1 mm).
Results: as shown in fig. 9: under illumination, the artificial muscle generates wave motion, and the crawling robot can perform directional movement by utilizing the wave motion.
Example 7: application of optical drive self-sustained fluctuation robot system for transmission device
The artificial muscle obtained in preparation example I was fixed at both ends on an inclined glass sheet (artificial muscle length 42mm, fixed distance at both ends 35mm, glass inclination angle 15 °).
Results: as shown in fig. 10: under illumination, the light is used as a soft motor and a conveying belt to convey goods (the mass is 0.15 g) against the gravity.
Example 8: application of optical drive self-sustained fluctuation robot system on curved surface
The artificial muscle obtained in preparation example one was fixed at both ends on a plastic sheet (artificial muscle was 30mm long and the distance between both ends was 25 mm).
Results: as shown in fig. 11: the substrate can work on the surface of a curved substrate under illumination, can also work on the surface of a distorted substrate, can even adapt to a complex surface which is dynamically curved, and shows excellent mechanical plasticity.
Example 9: application of optical drive self-sustained fluctuation robot system in wave type programming
The experiment of example 1 was repeated except for the structural spot pattern, which is shown in the inset in fig. 12.
Results: as shown in fig. 12: the wave can be generated on two sides of the artificial muscle by controlling the patterned light spots, the wave can be generated on one side of the artificial muscle only, the wave with different amplitudes can be generated on two sides of the artificial muscle, and the mixed traveling wave of the edge wave and the central wave can be combined together.
Example 10: application of optical drive self-sustained fluctuation robot system in peristaltic wave programming
The experiment of example 1 was repeated except for the artificial muscle size (width 6 mm) and the pattern of structured spots, which are shown in the inset in fig. 13.
Results: as shown in fig. 12: the pattern of the light spot can be manually adjusted according to the needs of people, so that the propagation track of a wave train, such as a triangle track, a diamond track and an S-shaped track, can be arbitrarily controlled; one wave train can be made to travel along a linear track, while the other wave train travels along a multi-line track motion, which can be used to push two objects to produce different motion tracks.
The present invention is not limited to the above-described preferred embodiments, and any person who can obtain other various products under the teaching of the present invention, however, any change in shape or structure of the product is within the scope of the present invention, and all the products having the same or similar technical solutions as the present application are included.
Claims (11)
1. A method for driving artificial muscle to automatically and continuously fluctuate, comprising the following steps:
fixing two ends of the bent artificial muscle, and driving the light source to irradiate the artificial muscle, wherein the raw material of the artificial muscle is a photoinduced deformation polymer material doped with a light absorbent, and the artificial muscle is self-sustained to generate local contraction and expansion by the bent structure to generate a wave structure under the stimulation of the driving light source, wherein the wave structure comprises: torsional waves, edge waves, and center waves; the principle is as follows: the method comprises the steps that a driving light source is used for increasing the temperature of an artificial muscle light irradiation area, local deformation is generated in the out-of-plane direction of the artificial muscle due to the fact that internal pressure stress of the artificial muscle surface of the light irradiation area is increased, the stronger the light irradiation of the light source is, the weaker the deformation corresponding to the artificial muscle is, when the light intensity of light spots of the driving light source is increased or decreased from the middle to two sides at intervals, torsion waves are generated by the artificial muscle, and when the light intensity of the light spots of the driving light source is decreased from the center to two sides, edge waves are generated by the artificial muscle; when the light intensity of the light spot of the driving light source increases from the center to the two sides, the artificial muscle generates a center wave.
2. The method of claim 1, wherein the artificial muscle produces an edge wave with an amplitude of 0-1.5 mm and a frequency of 0-1 Hz; the artificial muscle generates a central wave, the artificial muscle generates a 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 driving light source is a non-uniform spot having a different illumination gradient.
4. A method of driving a self-sustaining wave motion of an artificial muscle according to claim 3, wherein the non-uniform light spot is a patterned structured light spot generated by a light source on a reticle or a gray scale pattern.
5. A method of driving a self-sustaining wave motion of an artificial muscle according to claim 1, wherein when a light source of uniform light intensity is used, the curved material is contracted by the light spot irradiation of uniform light intensity, and the artificial muscle gradually goes from a curved state to a straight state.
6. The method of claim 1, wherein the driving light source irradiates the artificial muscle along an angle of incidence.
7. The method for driving artificial muscle to self-sustained fluctuation according to claim 1, wherein a sheet-like film precursor is obtained by preliminarily molding a liquid crystal elastomer oligomer doped with a light absorber using a mold, the sheet-like film precursor is uniaxially stretched and then subjected to a crosslinking reaction to obtain a film, and the film is cut into a strip-like film to obtain the artificial muscle, wherein the liquid crystal elastomer oligomer is a monomer containing a liquid crystal element.
8. The method of claim 1, wherein the artificial muscle film has a thickness of 90-200 μm, a width of 2-6 mm, and a length of 6-40 mm.
9. An apparatus for driving self-sustaining wave motion of an artificial muscle by light, comprising: an artificial muscle, wherein the raw material of the artificial muscle is a photoinduced deformation polymer material doped with a light absorber;
providing an illumination device driving a light source;
fixing two ends of the bent artificial muscle, driving the light source to irradiate any position of the artificial muscle, and generating local contraction and expansion of the artificial muscle by the bending structure to generate a wave structure under the stimulation of the driving light source, wherein the wave structure comprises: torsional waves, edge waves, and center waves; the principle is as follows: the method comprises the steps that a driving light source is used for increasing the temperature of an artificial muscle light irradiation area, local deformation is generated in the out-of-plane direction of the artificial muscle due to the fact that internal pressure stress of the artificial muscle surface of the light irradiation area is increased, the stronger the light irradiation of the light source is, the weaker the deformation corresponding to the artificial muscle is, when the light intensity of light spots of the driving light source is increased or decreased from the middle to two sides at intervals, torsion waves are generated by the artificial muscle, and when the light intensity of the light spots of the driving light source is decreased from the center to two sides, edge waves are generated by the artificial muscle; when the light intensity of the light spot of the driving light source increases from the center to the two sides, the artificial muscle generates a center wave.
10. A method of applying the method of driving the self-sustained fluctuation of an artificial muscle according to any one of claims 1 to 8, wherein the artificial muscle is applied to a preparation crawling robot to be used as an engine of the crawling robot to drive the crawling robot to advance by waves.
11. A method of applying a method of driving artificial muscles to self-sustaining wave motion according to any one of claims 1 to 8, wherein the artificial muscles are applied to prepare a conveyor as a conveyor belt for conveying objects by wave driving.
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| EP2926005A1 (en) * | 2012-11-27 | 2015-10-07 | CNR - Consiglio Nazionale Delle Ricerche | Light driven liquid crystal elastomer actuator |
| CN105082106B (en) * | 2015-07-21 | 2018-06-12 | 中国科学院物理研究所 | Codified actuator and its control method and Micro-Robot |
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| CN114317005B (en) * | 2020-09-30 | 2024-01-23 | 中国科学院理化技术研究所 | Application of photonic crystal material in preparation of light-driven or temperature-driven device |
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