CN115401720A - Fiber actuator with multi-mode and high-degree-of-freedom deformation and preparation and application thereof - Google Patents
Fiber actuator with multi-mode and high-degree-of-freedom deformation and preparation and application thereof Download PDFInfo
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Abstract
The invention provides a fiber actuator with multi-mode and high-freedom deformation, a preparation method and application thereof, wherein a fiber shape changer with multi-mode and high-freedom deformation is prepared by combining a mold with a thread structure with a two-step crosslinking method, and five different deformation modes can be realized under external stimulation: contraction, bending, torsion, winding and pitch shortening, and the composite deformation behavior of combination of two or more than two deformation modes in the same fiber actuator is realized by combining the light control mode.
Description
Technical Field
The invention relates to the technical field of functional materials, in particular to a fiber actuator with multi-mode and high-degree-of-freedom deformation, and preparation and application thereof.
Background
Liquid crystal polymers are novel intelligent materials, have anisotropy of liquid crystals and elasticity of polymer networks due to unique molecular arrangement modes, can generate phase transformation when being subjected to external stimulation (such as temperature, electricity, light, magnetism, solvent, pH and the like) so as to show the change of external appearance, and have very wide application prospects in the fields of biomedicine, micromachiness, soft robots, intelligent wearable devices, artificial muscles and the like.
However, the current liquid crystal polymer material has a single deformation mode when being subjected to external stimulus, and the main deformation mode is contraction/expansion or bending, and cannot generate multiple deformation modes or combination of multiple deformation modes under the external stimulus. Specifically, the current liquid crystal polymer materials have few deformation modes and limited deformation degrees of freedom, and cannot realize a composite deformation mode combining two or more deformation modes.
For example, CN106279745A is an intelligent composite material based on crystal photoinduced phase change and a preparation method thereof, in which a small molecule photoresponsive crystal material capable of photoinduced phase change is coated on a flexible substrate to generate specific deformation, such as bending, curling, spiraling, walking and the like, under the illumination of specific wavelength, which achieves the effects of large deformation amount and high response speed, however, the preparation process needs to be cut in a specific direction, and the cut strip can only generate a specific single deformation mode.
For another example, CN107033279B provides a deformable stimulus-responsive material, which can be converted from a planar two-dimensional structure into a three-dimensional structure under external stimulus, and is decorated on the back of a planar flexible microelectrode array, so as to achieve three-dimensional deformation of the flexible microelectrode array through external stimulus, however, it requires a complicated circuit design and a double-layer composite film, and can only generate a single deformation mode.
Due to the defects of the prior art, an intelligent polymer material capable of realizing multi-mode and high-degree-of-freedom deformation is urgently needed in the field, so that the application of the liquid crystal polymer material is widened.
Disclosure of Invention
The invention aims to provide a fiber actuator with multiple modes and high-degree-of-freedom deformation, and preparation and application thereof, wherein the fiber actuator can generate five different deformation modes under external stimulation: the deformation mode comprises contraction, bending, twisting, winding and pitch shortening, has the characteristics of various deformation modes and high deformation freedom degree, and can realize a composite deformation mode combining two or more than two deformation modes.
In order to achieve the purpose, the technical scheme provides the fiber actuator with multi-mode and high-degree-of-freedom deformation. The liquid crystal elastomer material which can be processed by two steps is prepared by stretching and orienting after being molded by a mold with a thread structure, wherein the spring-shaped liquid crystal elastomer fiber molded by the thread mold is an oligomer formed by primary chemical crosslinking, then asymmetric stress and strain distribution are generated on the cross section of the stretched spring-shaped liquid crystal elastomer fiber, liquid crystal is enabled to be uniaxially oriented, the stress gradient and the liquid crystal orientation on the cross section are fixed through further chemical crosslinking reaction, and the fiber actuator with multi-mode and high-degree-of-freedom deformation is obtained and generates the multi-mode and high-degree-of-freedom deformation under the light stimulation, wherein the multi-mode and high-degree-of-freedom deformation comprises at least one of contraction, bending, torsion, winding and pitch shortening.
This technical scheme provides a method for adjusting fibre executor takes place single deformation, utilizes same light source to shine the same position of fibre executor, utilizes the stimulus intensity and the light source radiation area size of the light source of adjusting irradiation on the fibre executor, adjusts this fibre executor and takes place single deformation, and wherein the deformation of fibre executor includes: at least one of shrinking, bending, twisting, winding, and shortening of the pitch.
The technical scheme provides a method for adjusting combined deformation of a fiber actuator, wherein a plurality of light sources are used for irradiating different positions of the fiber actuator, the fiber actuator is adjusted to be combined and deformed by adjusting the stimulus intensity or the size of a light source radiation area irradiated on the fiber actuator, and the combined deformation of the fiber actuator comprises the following steps: a combination of at least two of shrinking, bending, twisting, winding and pitch shortening.
The technical scheme provides a method for winding and grabbing an optical drive fiber actuator.
A method for grabbing an object by bending an optical drive fiber actuator is characterized in that the optical drive fiber actuator is irradiated by light to generate winding deformation to form one or more annular structures, and the annular structures are driven to wind on the object to be grabbed and grab the object to be grabbed. .
The application of the fiber actuator with the multi-mode and high-degree-of-freedom deformation is characterized in that the fiber actuator is applied to artificial muscles or mechanical arms to realize the grabbing, moving, rotating, lifting and releasing of objects.
Compared with the prior art, the technical scheme has the following characteristics and beneficial effects:
the fiber actuator with multi-mode and high-degree-of-freedom deformation is prepared by combining a die with a thread structure and a two-step crosslinking method, and five different deformation modes can be realized under external stimulation: shrinking, bending, twisting, winding and shortening of thread pitch, and combining the optical control mode of the light source, including remote, instantaneous and local control, by adjusting the number of the light sources, the stimulation intensity and the stimulation position, the composite deformation behavior of the combination of two or more than two deformation modes in the same fiber actuator is realized, and the multiple deformation modes can be switched by controlling the intensity of a light source and the size of a radiation area.
When the fiber executor with the multi-mode and high-degree-of-freedom deformation is used independently, the fiber executor can be used as a part of artificial muscles, and can also realize the muscle grabbing function by independently controlling the winding of the front end and the lower end and the lifting/moving function by independently controlling the winding of the rear end and the upper end; the bending and winding of the fibers can be used as a mechanical claw through splicing, and the multi-mode and high-degree-of-freedom movement of the arm can be realized through the contraction, bending, torsion, winding and pitch shortening of the fiber actuator.
Drawings
FIG. 1 is a flow chart of the present embodiment for making a multi-mode, high degree of freedom, deformable fiber actuator.
Fig. 2 is a schematic diagram of five deformation modes of the fiber actuator with multi-mode and high-degree-of-freedom deformation in the light control scheme.
Fig. 3 to 5 are schematic diagrams of various deformation mode combinations of the fiber actuator with multi-mode, high-degree-of-freedom deformation according to the scheme of light control.
Fig. 6 is a schematic diagram of the multi-mode high-degree-of-freedom deformation fiber actuator implementing the scheme of light control to realize winding grabbing and moving of a rod-shaped object.
Fig. 7 is a schematic view of an optically controlled robotic arm for effecting the grasping, lifting and releasing of an object.
Fig. 8 is a schematic diagram of the multi-mode, high-degree-of-freedom deformation fiber actuator of the light-operated scheme for achieving winding grabbing, lifting and releasing functions.
Fig. 9 is a schematic diagram of a multi-mode, high-degree-of-freedom, deformable fiber actuator of the present light management scheme that mimics the function of rattan grab and approach in nature.
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", etc., indicate orientations or positional relationships that are based on those shown in the drawings, which are merely for convenience in describing the present disclosure and to simplify the description, and do not indicate or imply that the device or element so referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus the terms above should not be construed as limiting the present disclosure.
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 fiber actuator with multiple modes and high-degree-of-freedom deformation and a preparation method thereof, and provides practical application of the fiber actuator. This scheme utilizes doping or bonding to have the preparation of light and heat conversion material liquid crystal polymer material and obtains this multimode, the fibre executor of high degree of freedom deformation, this fibre executor can change into helical structure from linear structure under the external stimulus, through adjusting the intensity of external light source and facula radiation area size, can make the fibre executor produce the shrink, the bending, twist, five kinds of deformation modes that winding and pitch shorten, and combine the means of light stimulation, can adopt the means of optics control (long-range, instantaneous, local control, through adjusting the light intensity, facula shape, the light irradiation position, facula quantity, incident light angle), in order to realize realizing the compound deformation action that two kinds and more than two kinds of deformation mode combinations in same fibre executor.
The technology of the invention can be used for preparing a multi-mode high-freedom-degree deformation fiber actuator with light, temperature and electric response. The method is a brand-new method for preparing the fiber actuator with multiple modes and high freedom degree. Has considerable potential application value in the fields of micro-mechanical systems, artificial muscles, soft robots and the like.
Correspondingly, the illumination intensity, the illumination position or the size of a light spot area of the light source are adjusted to realize the control of the fiber actuator.
In a first aspect, the present disclosure provides a method for manufacturing a multi-mode, high-degree-of-freedom deformation fiber actuator, including the following steps:
1) Preparing a spiral fiber precursor as follows:
carrying out preliminary polymerization molding on a monomer containing a liquid crystal element and a material containing photothermal conversion in a mode of bonding or doping in a mold with a thread structure in a mode of enol click reaction, michael addition reaction, free radical polymerization and the like, and then stripping to obtain a spiral fiber precursor which is not completely crosslinked;
2) Preparing a fiber actuator, specifically as follows:
and stretching and untwisting the spiral fiber precursor which is not completely crosslinked to obtain linear fibers, continuously stretching the linear fibers according to a set proportion and then fixing the linear fibers, and completely crosslinking and curing thiol groups and alkene groups to obtain the uniaxial-oriented multi-mode high-freedom-degree fiber actuator.
That is to say, the fiber actuator with multi-mode and high degree of freedom deformation prepared by the scheme is completed by a two-step method, firstly, a mold with a thread structure is used for molding a liquid crystal elastomer oligomer into a spiral wound spiral fiber precursor, the spiral fiber precursor is provided with a weak crosslinking network formed through chemical crosslinking reaction, and after initial curing, the molded spiral fiber precursor which is not completely crosslinked is taken out of the screw mold; and then, straightening, untwisting and further stretching strain are carried out by using the fiber precursor, and after the stretching strain is fixed, the stress gradient on the cross section of the straightened spiral fiber precursor is induced and fixed through a chemical crosslinking reaction, so that the fiber actuator with multi-mode and high-degree-of-freedom deformation is obtained.
In 1) preparing a helical fiber precursor, in:
the monomer containing the liquid crystal element and the material containing the photo-thermal conversion are primarily polymerized and formed in a mold with a thread structure in a mode of enol click reaction, michael addition reaction, free radical polymerization and the like in a bonding or doping mode. The corresponding preparation process is shown in figure 1.
In one embodiment of the present disclosure, a weakly cross-linked liquid crystal polymer elastomer is obtained by enol click reaction polymerization, wherein a liquid crystal monomer containing an acrylate double bond is RM82, a monomer containing a thiol group is DODT or PETMP, and a light absorber is graphene, and at this time, a corresponding fiber actuator may respond to near infrared light to select RM82: DODT 1.67:1, DODT: PETMP is 3:1, and the mass ratio of the graphene is 2%.
That is, the present disclosure provides a fiber actuator with a variety of doped or bonded photothermal conversion materials, and a light source type that can be optically stimulated to modulate the fiber actuator.
In addition, the organic solvent in the scheme is chloroform.
After the mixed solution is ultrasonically dispersed, a catalyst is added and then the mixed solution is vibrated and dissolved to obtain a precursor solution, wherein the ultrasonic dispersion time can be 3-5 hours, and 4 hours are selected in the scheme. In addition, in the embodiment of the present invention, 2wt% of DPA is used as the catalyst, and the catalyst can also be (DPA di-N-propylamine, hexAM hexylamine, TEA triethylamine, N) 0 N0-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 1-diazabicyclo [4.3.0]Non-5-ene (DBN), etc., the catalyst may be selectedThe method has multiple DPA, the DPA selected in the scheme is used for enabling the reaction to be more efficient, and other catalysts are also suitable.
In the process of filling the precursor solution into the threaded mold for reacting for a period of time at room temperature, the precursor solution is uniformly filled into the threaded mold, the shape of the threaded mold is not limited too much, and the threaded mold has a threaded structure. In the embodiment of the present embodiment, the reaction time at room temperature may be 1 to 3 hours, and 2 hours is selected.
In 2) preparing the fiber actuator, in
And in the step of fixing after continuously stretching the linear fibers according to the set proportion, continuously stretching the linear fibers by 10-100 percent and fixing for 18-30h. The embodiment of the scheme stretches the linear fiber by 50 percent; in addition, in one embodiment of the scheme, the straight fiber is fixed for 24 hours after being stretched.
Correspondingly, preparation example 1:
mixing and dissolving monomers in chloroform according to a molar ratio of RM82: DODT of 1.67 to DODT of 1, PETMP of 3; and stretching and untwisting the prepared incompletely crosslinked spiral fibers to obtain linear fibers, continuously stretching the linear fibers by 50% and fixing for 24 hours to completely crosslink and cure mercaptan and olefin to obtain the multi-mode high-freedom fiber actuator with uniaxial orientation.
In a second aspect, the present disclosure provides a fiber actuator with multi-mode, high-degree-of-freedom deformation, which is prepared according to the preparation method thereof.
The fiber actuator with the multi-mode and high-degree-of-freedom deformation is obtained by spirally forming a liquid crystal elastomer oligomer and then stretching the liquid crystal elastomer oligomer again, wherein the liquid crystal elastomer oligomer has a weakly cross-linked network formed through a chemical cross-linking reaction. Wherein the liquid crystal elastomer oligomer is a liquid crystal monomer containing acrylate double bonds, the mixture of a cross-linking agent containing thiol groups and a light absorbent monomer is dissolved in an organic solvent to perform weak chemical cross-linking reaction under the action of a catalyst, and the carbon-carbon double bonds and the thiol groups are 0.9-1.2; and during secondary stretching, stretching and untwisting the incompletely crosslinked liquid crystal elastomer oligomer to obtain linear fibers, continuously stretching the linear fibers according to a set proportion, and fixing to ensure that the thiol group and the alkene group are completely crosslinked and cured to obtain the uniaxial-oriented multi-mode high-freedom-degree fiber actuator.
The cross-sectional area of the fiber actuator with multi-mode and high-freedom deformation is 0.001-10 mm 2 And generating multi-mode, high-degree-of-freedom deformation under optical stimulation, wherein the multi-mode, high-degree-of-freedom deformation comprises at least one of contraction, bending, torsion, winding and shortening of thread pitch.
In the embodiment, the doped photothermal conversion material is graphene, so that near infrared light can be converted into heat to realize the effect of deformation caused by light stimulation, similarly, photothermal conversion materials of other wave bands can be introduced into the graphene to realize the deformation of the graphene under light of other wavelengths, and the deformation of the graphene can also be realized by directly using heat source stimulation or generating an electrothermal effect.
When the stimulus source is light, the deformation mode of the fiber actuator with multi-mode and high-freedom deformation can be controlled by adjusting the light intensity and the size of the light spot radiation area. At this time, the light source is any one of ultraviolet light, visible light, red light and near-infrared light; the light source is movable at will; the spot size and intensity of the light source can be adjusted; the light intensity of the light source is 0.01-100W cm -2 。
The graphene which is used in this embodiment and absorbs near-infrared light is used as a photothermal conversion material, so that the photothermal conversion effect is good, and thus the required light intensity is small. But there may be differences in the amount of light intensity required for other light absorbers or to reduce the doping amount of graphene. In the multiple deformation modes described in this embodiment, for an infinitely long fiber, only bending deformation needs to be generated under the irradiation of a small light spot, while the size of the light spot is not limited when contraction, torsion, winding and pitch are shortened, and the larger the irradiation range is, the longer the length of the deformation region on the fiber is, the larger the irradiation range is.
The light intensity required to produce shrinkage for the fiber actuator in this example may be 0.1-3W cm -2 The light intensity and light spot size required for generating the bending are 1-10W cm -2 、0.001-1cm 2 The light intensity required for generating torsion is 1-3W cm -2 The light intensity required for generating winding is 3-5W cm -2 The light intensity required for generating the shortened screw pitch is 5-100W cm -2 。
In addition, the fiber executor is combined with a light control means to realize the composite deformation behavior of the combination of two or more than two deformation modes in the fiber executor.
It is worth mentioning that the scheme can drive the fiber actuator to generate different deformation mode combinations by arranging two or more than two light sources on the same fiber actuator, and can change the deformation modes by changing the intensity of the light sources and the radiation area of the light sources.
Specifically, the fiber actuator with multi-mode and high-degree-of-freedom deformation can be driven to generate shrinkage deformation through light control; the fiber actuator can be driven to generate bending deformation; the fiber actuator can be driven to generate torsional deformation; the fiber actuator can be driven to generate winding deformation; the fiber actuator can be driven to generate pitch shortening deformation; the fiber actuator can be driven to generate bending and winding deformation; the fiber actuator can be driven to bend and the thread pitch is shortened and deformed; the fiber executor can be driven to generate bending, winding and pitch shortening deformation.
In addition, the fiber actuator with multimode, high-degree-of-freedom deformation has shapes of triangle, circle, rectangle, and polygon.
In a third aspect, the present disclosure provides an application of the multi-mode, high-degree-of-freedom deformation fiber actuator, and specifically, the present disclosure provides a method for adjusting the fiber actuator to deform singly: the same position of utilizing same light source illumination fibre executor utilizes the stimulus intensity or the facula radiation area size of the light source of regulation irradiation on the fibre executor, adjusts this fibre executor and takes place single deformation, and wherein the deformation of fibre executor includes: at least one of shrinking, bending, twisting, winding, and shortening of the pitch.
In a fourth aspect, the present disclosure provides an application of the multi-mode, high-degree-of-freedom deformation fiber actuator, and specifically, the present disclosure provides a method for adjusting the combined deformation of the fiber actuator: different positions of the fiber executor are irradiated by different light, the fiber executor is adjusted to generate combined deformation by adjusting the stimulation intensity of a light source irradiated on the fiber executor or the size of a light spot radiation area, and the combined deformation of the fiber executor comprises the following steps: a combination of at least two of shrinking, bending, twisting, winding and pitch shortening.
In a fifth aspect, the fiber actuator with multi-mode and high-degree-of-freedom deformation provided by the scheme can be applied to artificial muscles or mechanical arms, and realizes winding grabbing, rod-shaped object moving, grabbing, rotating, lifting and releasing of objects.
The scheme provides a method for winding and grabbing an optical drive fiber actuator, which comprises the following steps: and moving the fiber actuator to be close to the object to be grabbed, and irradiating one end of the fiber actuator, which is close to the object to be grabbed, so as to drive the fiber actuator at the end to wind and grab the object to be grabbed. .
Further, the object can be lifted after grabbing, comprising the steps of: and irradiating one end of the fiber actuator far away from the object to be grabbed by light to drive the other end of the fiber actuator to change the linear structure into the spiral structure, so as to realize the lifting of the object to be grabbed.
The object may be moved after grabbing, comprising the steps of: and moving the fiber actuator wound with the object to be grabbed.
Releasing the object after grasping, comprising the steps of: and (4) turning off the light source, and enabling the fiber actuator to return to the linear structure so as to release the object to be grabbed.
To show the grabbing process more specifically, the present solution provides the following specific examples:
a method for grabbing an object by winding an optical drive fiber actuator is characterized in that the object to be grabbed is hung at the lower end of the fiber actuator, light irradiates the lower end of the fiber actuator to drive the lower end fiber actuator to wind and grab the object to be grabbed, then a light source irradiates the upper end of the fiber actuator to drive the upper end fiber actuator to change a linear structure into a spiral structure, and the object to be grabbed is lifted.
In addition, the fiber actuator can be used for winding and grabbing objects and can also be used for bending and grabbing objects. Correspondingly, the scheme provides an optical drive fiber actuator for grabbing an object in a bending way, and the method comprises the following steps: the light irradiation fiber executor is wound and deformed to form one or more annular structures, and after the annular structures are wound on an object to grab the object, the light source is turned off to release the object.
To show the grabbing process more specifically, this scheme provides the following specific examples:
a method for grabbing an object by winding a fiber executor driven by light irradiates the short end of the fiber executor to bend the short end of the fiber executor into an arc closed loop to grab the object to be grabbed, and irradiates the long end of the fiber executor to drive the upper end of the fiber executor to change a linear structure into a spiral structure, so that the object to be grabbed is lifted.
Specifically, the following specific light control experiment is performed by taking the fiber actuator with multimode and high-degree-of-freedom deformation obtained in preparation example 1 as an example, and the example is illustrated by taking a stimulus source as a light source:
example 1: optical fiber actuator for realizing multiple deformation modes
The fiber actuator is stimulated by near infrared light, and the shape of the fiber can be changed by adjusting the spot size and the light intensity of the light source. The result is a contraction, bending, twisting, winding and pitch shortening deformation for the fiber actuator in sequence from left to right as shown in fig. 2. Wherein the light intensity and the spot size which generate the shrinkage deformation are respectively 0.5W cm -2 ，1.8cm 2 (ii) a The light intensity and the light spot size of the light beam which generates bending deformation are respectively 1.5W cm -2 ，0.05cm 2 (ii) a The light intensity and the light spot size of the torsional deformation are respectively 1.5W cm -2 ，2.0cm 2 (ii) a The light intensity and the light spot size which generate winding deformation are respectively 3W cm -2 ，2.0cm 2 (ii) a Product produced by birthThe light intensity and the light spot size of the shortening deformation of the raw pitch are respectively 5W cm -2 ，2.0cm 2 。
Example 2: optical fiber actuator for realizing combination of multiple deformation modes
The experiment of example 1 was repeated except that two or more deformation patterns could be produced on the same fiber by simultaneously stimulating different areas of the fiber actuator with multiple lights.
As shown in FIGS. 3 to 5, when two lights are irradiated on different portions of the fiber actuator as shown in FIG. 3, the light from the upper light source is a circular light spot with a diameter of 1.4cm and a light intensity of 1.4W cm-2, and the light from the lower light source is a bar-shaped light spot with a size of 2.5mm X3.5 mm and a light intensity of 5.0W cm-2. Finally, winding deformation and bending deformation occur on the same fiber actuator.
As shown in FIG. 4, when two lights are irradiated on different parts of the fiber actuator, the light spot of the upper light source is a circular light spot with a diameter of 1.4cm, and the light intensity is 2.2W cm -2 The lower end of the light source is a strip-shaped light spot with the size of 2.5 multiplied by 3.5mm and the light intensity is 5.0W cm -2 . Finally, the deformation and the bending deformation of the same fiber with shortened pitch appear.
As shown in FIG. 5, when three light sources are combined to irradiate different parts of the fiber, the light spot of the upper light source is a strip-shaped light spot with the diameter of 1.3 multiplied by 0.4cm, and the light intensity is 1.1W cm -2 The light spot of the intermediate light source is a circular light spot with the diameter of 1.4cm and the light intensity of 2.2W cm -2 The lower end of the light source is a strip-shaped light spot with the size of 2.5 multiplied by 3.5mm and the light intensity is 5.0W cm -2 Finally, winding deformation, pitch shortening deformation and bending deformation occur on the same fiber actuator.
Example 3: the optical control fiber actuator realizes winding, grabbing and moving of the rod-shaped object
Fixing a section of 2cm long fiber on a section of glass rod, placing a rod-shaped object on a horizontal step, enabling the fiber actuator to be close to the rod-shaped object, and irradiating different positions of the fiber actuator by using near infrared light, wherein the actuator is bent and wound to deform.
As a result: as shown in FIG. 6, by oneA circular light spot with a diameter of 1.5cm and a light intensity of 3.5W cm -2 The fiber executor is wound and deformed and is wound on the rod-shaped object, the fiber executor is moved to another higher step and the light source is turned off, the fiber executor returns to the initial state from the spiral shape and releases the rod-shaped object to another higher step, and the process is reversible.
Example 4: and (3) preparing an all-optical control soft robot arm, and realizing the grabbing, lifting and releasing of an object:
the tail end of a long fiber with the length of 2cm is stuck to the middle of a short fiber with the length of 0.8cm, so that the assembly of a mechanical arm is realized, when the short fiber is irradiated by near infrared light, the fiber can be bent into an arc shape, and when the long fiber is irradiated by the near infrared light, the long fiber is spirally transformed.
As a result: as shown in fig. 7, the short fibers at the bottom are first irradiated by near infrared light to form a closed loop, an annular object at the lower end is grabbed, the long fibers at the upper end are irradiated by near infrared light to grab the object and lift the object to a certain height, the near infrared light is turned off, and the annular object is released by the soft mechanical arm.
Example 5: the winding, grabbing, lifting and releasing functions of the optical fiber actuator are as follows:
a fiber actuator with the length of about 3.5cm is vertically suspended, a rod-shaped object with the length of about 1cm is placed at the lower end of the fiber actuator, when light irradiates at the lower end of the fiber actuator, the fiber can be wound to grab the object, and when the light irradiates at the upper end of the fiber actuator, the fiber actuator can be lifted.
As a result: as shown in fig. 8, when the near-infrared light irradiates the lower end of the fiber, the fiber at the lower end is wound and grabs the rod-shaped object, and then the near-infrared light irradiates the fiber at the upper end, so that the fiber is changed from a linear structure to a spiral structure, thereby lifting the object, and releasing the object after the near-infrared light is turned off.
Example 6: the optical fiber actuator simulates the function of grabbing and approaching the vine in nature
A fiber with the length of about 8cm is adhered to a vine planting plant, the other end of the fiber is horizontally hung on a bamboo pole, when the fiber is irradiated to a section close to the bamboo pole by light, the fiber is bent and wound to deform, finally, the fiber is wound and fixed on the bamboo pole, and when a large light spot light source is used for irradiating the fiber at the horizontal section, the fiber is contracted, the spiral and the pitch are shortened, so that the vine is pulled to be close to the bamboo pole.
As a result: as shown in FIG. 9, under light stimulation, the fiber is wound and fixed on the bamboo pole, and the plant Bowman is pulled to approach the bamboo pole.
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 fiber actuator with multi-mode and high-degree-of-freedom deformation is characterized in that a liquid crystal elastomer material capable of being processed by a two-step method is molded by a mold with a thread structure and then is subjected to stretching orientation to prepare the fiber actuator, wherein spring-shaped liquid crystal elastomer fibers molded by the thread mold are oligomers formed by primary chemical crosslinking, then asymmetric stress and strain distribution are generated on the cross section of the stretched spring-shaped liquid crystal elastomer fibers to enable liquid crystals to be subjected to uniaxial orientation, and the stress gradient and the liquid crystal orientation on the cross section are fixed through further chemical crosslinking reaction; under the stimulation of light, the fiber executor has five basic deformation modes: contraction, bending, twisting, winding and shortening of thread pitch; wherein the bending, twisting and winding are high-freedom deformation modes.
2. A multi-modal, high degree of freedom deformation fiber actuator of claim 1 wherein the liquid crystal elastomeric oligomer is prepared by enol click reaction, michael addition reaction or free radical polymerization, the liquid crystal elastomeric oligomer that is initially crosslinked is stretched for orientation and then set in shape and orientation by a further crosslinking reaction.
3. The fiber actuator with multi-mode and high-degree-of-freedom deformation according to claim 1, wherein the fiber actuator deforms when the same light source is used for illuminating the same position of the fiber actuator, and the deformation mode of the fiber actuator is actively adjusted by adjusting the intensity of the light source and the size of the light spot radiation area.
4. The fiber actuator with multi-mode and high-degree-of-freedom deformation according to claim 1, wherein a plurality of light sources are combined to stimulate different positions of the same fiber actuator, the same fiber actuator is cooperatively adjusted to generate deformation in two or more modes, and the deformation mode types of the fiber actuator are changed by adjusting the intensity of the light sources and the size of a light spot radiation area.
5. A method for adjusting fiber executor to generate single deformation is characterized in that the same light source is used for stimulating the same position of the fiber executor, the fiber executor is adjusted to generate single deformation by adjusting the intensity of the light source irradiating on the fiber executor or the size of a light spot radiation area, and the deformation of the fiber executor comprises the following steps: at least one of contraction, bending, twisting, winding and shortening of pitch, wherein the fiber actuator having multi-mode, high-degree-of-freedom deformation according to any one of claims 1 to 4 is used as the fiber actuator.
6. A method for adjusting combined deformation of a fiber actuator is characterized in that a plurality of light sources are used for irradiating different positions of the fiber actuator, the fiber actuator is adjusted to generate combined deformation by adjusting the stimulation intensity or the stimulation position irradiated on the fiber actuator, and the combined deformation of the fiber actuator comprises the following steps: the combination of at least two of contraction, bending, twisting, winding and pitch shortening, the mode of deformation generated at different positions can be changed by adjusting the intensity of light and the size of the radiation area of the light spot, wherein the fiber actuator having multi-mode, high-degree-of-freedom deformation according to any one of claims 1 to 4 is used as the fiber actuator.
7. A method for winding and grabbing an object by an optical drive fiber executor, which is characterized in that the fiber executor is moved close to the object to be grabbed, and one end of the fiber executor close to the object to be grabbed is irradiated with light to drive the end fiber executor to wind and grab the object to be grabbed, wherein the fiber executor with multi-mode and high-degree-of-freedom deformation as claimed in any one of claims 1 to 4 is used as the fiber executor.
8. A method for grabbing an object by bending a fiber executor driven by light, wherein the fiber executor is irradiated by the light to generate winding deformation to form one or more annular structures, the annular structures are driven to wind on the object to be grabbed and grab the object to be grabbed, and the fiber executor with multi-mode and high-degree-of-freedom deformation as claimed in any one of claims 1 to 4 is used as the fiber executor.
9. Use of a multi-mode, high-degree-of-freedom, deformable fiber actuator according to any of claims 1-4 in an artificial muscle or robotic arm to effect grasping, movement, rotation, lifting and release of an object.
10. A method for preparing a fiber actuator with multimode and high-degree-of-freedom deformation is characterized by comprising the following steps of:
1) Preparing a spiral fiber precursor:
carrying out preliminary polymerization molding on a monomer containing a liquid crystal element and a material containing photothermal conversion in a mode of bonding or doping in a mold with a thread structure through enol click reaction, michael addition reaction or free radical polymerization, and stripping to obtain a spiral fiber precursor which is not completely crosslinked;
2) Preparing a fiber actuator:
and stretching and untwisting the spiral fiber precursor which is not completely crosslinked to obtain linear fibers, continuously stretching the linear fibers according to a set proportion and then fixing the linear fibers, and completely crosslinking and curing thiol groups and alkene groups to obtain the uniaxial-oriented multi-mode high-freedom-degree fiber actuator.
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| CN116746726A (en) * | 2023-06-06 | 2023-09-15 | 西湖大学 | Environment self-adaptive and automatic response deformation bionic intelligent artificial plant system |
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| CN116746726A (en) * | 2023-06-06 | 2023-09-15 | 西湖大学 | Environment self-adaptive and automatic response deformation bionic intelligent artificial plant system |
| CN116746726B (en) * | 2023-06-06 | 2024-02-09 | 西湖大学 | Environment self-adaptive and automatic response deformation bionic intelligent artificial plant system |
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