WO2023216343A1

WO2023216343A1 - Light-driven spontaneous and continuous waving method for artificial muscle, and system and applications

Info

Publication number: WO2023216343A1
Application number: PCT/CN2022/096521
Authority: WO
Inventors: 吕久安; 赵桐辉
Original assignee: 西湖大学
Priority date: 2022-05-09
Filing date: 2022-06-01
Publication date: 2023-11-16
Also published as: CN114833831B; CN114833831A

Abstract

Provided in the present invention are a light-driven spontaneous and continuous waving method and apparatus for an artificial muscle, and applications. The method comprises: fixing two ends of a curved artificial muscle; a driving light source irradiating the artificial muscle, wherein the raw material of the artificial muscle is a photoinduced-deformation polymer material doped with a light absorber; and under the stimulation of the driving light source, the artificial muscle spontaneously and continuously generating local contraction and relaxation from a curved structure so as to generate a wave structure, wherein the wave structure includes, but is not limited to: a twisting wave, an edge wave and a center wave. Under the irradiation of different structured light spots, the artificial structure can spontaneously generate different waveforms, which can propagate in a certain direction; in addition, the artificial muscle can realize structured programing for any peristaltic wave, and thus can be applied to various wave control scenarios.

Description

A method, system and application of self-sustained fluctuation of light-driven artificial muscles

Technical field

The invention relates to the field of energy mechanical conversion, and in particular to a method, system and application of self-sustaining fluctuations of light-driven artificial muscles.

Background technique

Constructing a soft robot system with adaptive capabilities and autonomy that enables programmable shape deformation has application prospects in science and engineering. For biological systems, such as gastropods, their soft sheet tissue can be deformed into a three-dimensional wave shape and generate wave motion through self-oscillation, providing a universal and simple method for automatic propulsion and transportation. However, in order to artificially generate wave motion, traditional robotic systems need to integrate many discrete actuators, each of which is individually controlled and powered in a coordinated manner. This inevitably leads to the design and manufacturing of wave systems. The complexity of control and power supply, especially when the size of a robotic system shrinks to millimeters or less, will become impossible.

Soft intelligent deformation materials have the inherent intelligent deformation behavior of the material itself and can perform self-oscillating motion driven by constant, static energy. It can endow artificial robot systems with autonomous intelligence characteristics, thereby effectively reducing the complexity of the system. Scientists and engineers tried to create wave motion using two shape-shaping materials: gel materials and photosensitive liquid crystal polymers. The former utilizes chemical oscillations generated by the Belouzov-Zhabotinsky reaction to induce the gel to spontaneously produce expansion-deflation oscillations to form wavy deformation. However, gel materials must work in wet environments, while most engineering applications work in dry environments.

Despite many previous creative efforts, the waves developed in artificial soft robotic systems so far still fall far short of the diversity in morphology and function observed from biological organisms. . For example, the wave motion on the lamellar footplates of sea slugs allows them to crawl freely on the seabed; the peristaltic waves in the intestines of mammals allow food to be transported smoothly along the intestines. In other words, the current soft robot solutions are far from reaching the wave form at the life level and cannot realize the independent propagation of waves, which in turn limits the applications in many fields such as propulsion and transportation.

Contents of the invention

The purpose of the present invention is to provide a method, system and application for self-sustained fluctuations of light-driven artificial muscles, and to design a light-responsive artificial muscle that can freely contract and expand, which can spontaneously produce different types of light under different structural light spots. The waveform can propagate in a certain direction, and the artificial muscle can achieve structural programming of arbitrary peristaltic waves.

In order to achieve the above object of the invention, this solution provides a method for light-driven artificial muscles to self-sustained fluctuations, including the following steps:

The two ends of the curved artificial muscle are fixed, and the driving light source illuminates the artificial muscle. The raw material of the artificial muscle is a photodeformable polymer material doped with a light absorber. Under the stimulation of the driving light source, the artificial muscle self-sustainably changes from the curved structure. Local contraction and expansion generate wave structures, where the wave structures include but are not limited to: torsional waves, edge waves, and center waves.

In a second embodiment, this solution provides a device for self-sustaining fluctuations of light-driven artificial muscles, including: artificial muscles, where the raw material of the artificial muscles is a photodeformable polymer material doped with a light absorber; and a driving light source is provided. A lighting device; fix both ends of the curved artificial muscle, drive the light source to illuminate the artificial muscle, and under the stimulation of the drive light source, the artificial muscle will spontaneously and continuously produce local contraction and expansion from the bending structure to produce a wave structure, where the wave structure includes but does not Limited to: torsional waves, edge waves, and center waves.

In the third embodiment, this solution provides the application of a method of self-sustained wave driving of artificial muscles by light. The artificial muscles are used to prepare a crawling robot and serve as an engine of the crawling robot to drive the crawling robot forward through waves.

In the fourth aspect, this solution provides an application of a method of self-sustained wave driving of light-driven artificial muscles, which is characterized in that the artificial muscles are used to prepare a transmission device and serve as a conveyor belt of the transmission device to transmit objects driven by waves.

Compared with the existing technology, this technical solution has the following characteristics and beneficial effects: using monomers containing liquid crystal units as photodeformation materials to design light-responsive artificial muscles that can freely contract and expand, which can be irradiated with different structural light spots Different wave types are spontaneously generated, including but not limited to: torsional waves, edge waves, and central waves, and the generated waveforms can propagate in a certain direction. In addition, structural programming of arbitrary peristaltic waves can also be realized.

Description of the drawings

Figure 1 is a principle equation for preparing artificial muscles according to an embodiment of the present invention.

Figure 2 is a processing and preparation method for artificial muscles of the wave system driving unit according to an embodiment of the present invention.

Figure 3 is a schematic diagram of three wave motion modes of artificial muscles and their corresponding patterned light spots according to an embodiment of the present invention.

Figure 4 shows a light-driven self-sustaining wave robot system generating torsional wave motion under light stimulation according to an embodiment of the present invention.

Figure 5 shows an edge wave motion generated by a light-driven self-sustaining wave robot system under light stimulation according to an embodiment of the present invention.

Figure 6 shows a light-driven self-sustaining wave robot system generating central wave motion under light stimulation according to an embodiment of the present invention.

Figure 7 shows a light-driven self-sustaining wave robot system generating wave motion under light stimulation according to an embodiment of the present invention. The applicable environment is gas, liquid or gas-liquid interface.

Figure 8 shows a light-driven self-sustaining wave robot system generating wave motion under the stimulation of concentrated sunlight according to an embodiment of the present invention.

Figure 9 is a light-driven self-sustaining wave robot system used in a crawling robot according to an embodiment of the present invention.

Figure 10 shows a light-driven self-sustaining wave robot system used in an object transmission device according to an embodiment of the present invention.

Figure 11 is a light-driven self-sustaining wave robot system used for curved surfaces, twisted surfaces or dynamic curved surfaces according to an embodiment of the present invention.

Figure 12 is a light-driven self-sustaining wave robot system used for different wave programming according to an embodiment of the present invention.

Figure 13 is a light-driven self-sustaining wave robot system used for peristaltic wave programming according to an embodiment of the present invention.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art fall within the scope of protection of the present invention.

Those skilled in the art will understand that in the disclosure of the present invention, the terms "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", " The orientations or positional relationships indicated by "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. are based on the orientations or positional relationships shown in the drawings, which are only for the convenience of describing the present invention and The description is simplified and is not intended to indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore the above terminology should not be construed as limiting the invention.

It should be understood that the term "a" should be understood as "at least one" or "one or more", that is, in one embodiment, the number of an element may be one, while in other embodiments, the number of the element may be The number may be multiple, and the term "one" shall not be understood as a limitation on the number.

This solution provides a method for light-driven artificial muscles to self-sustained fluctuations, including the following steps:

The two ends of the curved artificial muscle are fixed, and the driving light source is illuminated at any position of the artificial muscle. The raw material of the artificial muscle is a photodeformable polymer material doped with a light absorber. Under the stimulation of the driving light source, the artificial muscle is formed into a curved structure. Self-sustaining localized contractions and expansions create wave structures.

When utilizing the light source of the structured light spot, the artificial muscle generates a wave structure, which includes but is not limited to: torsional waves, edge waves, and central waves. In other words, through the above movement methods, light-controlled artificial muscles can produce at least three self-sustaining wave motion behaviors: torsional waves, edge waves, and central waves. Of course, since the wave structure of the artificial muscle in this solution is controllable, this solution can also realize adjustable and programmable peristaltic waves, thereby achieving control of the propagation trajectory of arbitrary wave trains.

When a light source with a uniform light spot is used, the curved material will shrink under the light spot with a uniform light intensity, and the artificial muscle will gradually change from a curved state to a straight state.

Specifically, when the light intensity of the light spot of the driving light source increases or decreases from the middle to both sides, the artificial muscle generates a torsional wave, the amplitude of the wave motion is 0~2.5mm, and the frequency is 0~2Hz; the light of the light spot of the driving light source When the intensity decreases from the center to both sides, the artificial muscle generates edge waves, the amplitude of the wave motion is 0~1.5mm, and the frequency is 0~1Hz; when the light spot of the driving light source increases from the center to both sides, the artificial muscle Generate a central wave, and the artificial muscle generates central wave motion. The amplitude of the wave motion is 0~1.0mm and the frequency is 0~2Hz.

The "self-sustainability" of this solution is reflected in the fact that the artificial muscles can produce wave structures only under the illumination of the driving light source without the need for other external forces. Under continuous and steady illumination of light, the artificial muscles will spontaneously and continuously wave.

The driving light source irradiates the artificial muscle along a certain incident angle to cause local contraction and expansion of the artificial muscle. The principle is: driving the light source to increase the temperature of the light-irradiated area of the artificial muscle. The increase in the in-plane compressive stress of the artificial muscle in the light-irradiated area causes the artificial muscle to produce local deformation in the out-of-plane direction. It is worth mentioning that the relaxation deformation of artificial muscles is inversely proportional to the illumination of the light source. That is to say, the stronger the illumination of the light source, the weaker the corresponding deformation of the artificial muscles.

This solution can achieve free switching of different wave structures, wave frequencies and amplitudes by changing the incident angle, light intensity, light source spot shape and artificial shape size of the driving light source. This is a new light-driven method of generating continuous wave motion, which has considerable potential application value in the fields of micromechanical systems, soft robots, and new energy.

Specifically, the light intensity of the driving light source is adjusted to adjust the movement rate of the wave structure generated by the artificial muscle. The stronger the light, the faster the movement rate. The torsional wave frequency is 0~2Hz; the edge wave frequency is 0~1Hz, and the center wave frequency is 0~2Hz; adjust The shape of the light source spot is used to adjust the range of motion of the artificial muscle to generate the wave structure.

In some embodiments, the driving light source is a non-uniform light spot, and the non-uniform light spot has different illumination gradients, so that the artificial muscles in the light irradiation area can correspondingly generate different waveforms and achieve directional propagation. Since the light source is tilted and has a light intensity gradient along the long axis of the artificial muscle, waves are generated from one side close to the light source, propagate, and disappear at the other end, so the waves have a certain directionality. In some embodiments, the non-uniform light spot is formed by a mask or a grayscale pattern, and the light source generates pattern structural light spots on the mask or grayscale pattern. The image structural light spot can be generated by a commercial projector or other light source equipped with a photomask or grayscale image.

When the projector is used as the driving light source and the structural grayscale image is used as the structural light spot, and the grayscale photos are switched through the computer, the artificial muscles form torsional waves, edge waves and central waves in situ, and different waves can be freely switched in situ.

When near-infrared light is used as the driving light source, the mask produces a structural light spot, and when different masks are switched in situ, the artificial muscles form torsional waves, edge waves and central waves in situ, and the 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 light absorber used to prepare the fiber actuator. If the light absorber absorbs For near-infrared light, choose near-infrared light to drive the light source. For example, if the light absorber is ketocyanine dye, near-infrared light is selected as the driving light source.

The preparation method of the artificial muscles provided by this solution is as follows:

Use a mold to preliminarily shape the liquid crystal elastomer oligomer mixed with a light absorber to obtain a sheet film precursor. The sheet film precursor is uniaxially stretched and then cross-linked to obtain a film. The film is cut into a certain size. Strip-shaped films can be used to obtain artificial muscles.

The sheet-like film precursor has a weak cross-linked network formed through a chemical cross-linking reaction. The incompletely cross-linked sheet-like film precursor is taken out from the mold, and then the sheet-like film precursor is subjected to uniaxial tensile strain. After fixing the tensile strain, the sheet-like film in the stretched state is induced and fixed by continuing the chemical cross-linking reaction to obtain an artificial muscle with contraction and expansion deformation with multiple degrees of freedom.

In other words, the artificial muscle in this solution is a strip-shaped film material, and the photodeformable polymer material in the raw material is a liquid crystal elastomer oligomer. The liquid crystal elastomer oligomer is a monomer containing liquid crystal units, and the liquid crystal elastomer oligomer and the light absorber containing photothermal conversion are bonded or doped through enol click reaction or Michael addition. The sheet-like film precursor obtained by preliminary polymerization and molding in a square mold by reaction and free radical polymerization has a weak cross-linked network formed by chemical cross-linking reaction. When the sheet-like film precursor is axially stretched, the liquid crystal elastomer The mesogens in the oligomer are oriented, and the liquid crystal orientation is induced and fixed through a chemical cross-linking reaction after the stretching operation, thereby obtaining artificial muscles that can be photodeformed.

During the stretching stage of the sheet film precursor, the thiol group and the olefin group are completely cross-linked and solidified to obtain an artificial muscle with uniaxial orientation. The artificial muscle will shrink along the liquid crystal orientation direction and expand in the orthogonal direction when exposed to light.

The light absorber in this solution can absorb light and convert it into heat under light irradiation. The material of the light absorber can be organic materials and inorganic materials, including carbon nanotubes, graphene, light-absorbing dyes, light-absorbing inks, etc. And depending on the response of the light absorber to light, different driving light sources can be used to control artificial muscles. The light absorber doped in the artificial muscle produces a photothermal excitation effect under the irradiation of the driving light source. The light irradiation will increase the temperature of the artificial muscle, and the temperature change further triggers the deformation of the light irradiation area. In some embodiments, the light absorbing agent in the raw material of the artificial muscle is selected as a near-infrared absorbing dye. At this time, the artificial muscle can convert near-infrared light into heat to achieve light stimulation to produce deformation. Of course, the light absorber can be adjusted to absorb light absorbers of other bands according to needs, so as to achieve the photodeformation effect of artificial muscles on light sources of different bands.

In a specific embodiment, the composition of the sheet film precursor can be a combined monomer of a liquid crystal monomer containing an acrylate double bond, a cross-linking agent containing a thiol group and a light absorber, and the combined monomer is dissolved in Dissolve in an organic solvent to obtain a mixed solution, shake and mix the mixed solution, add a catalyst to catalyze the chemical cross-linking between the combined monomers, and place it in a mold for preliminary solidification to form a sheet-like film precursor.

In one embodiment of this solution, a liquid crystal elastomer oligomer is obtained through an enol click reaction, in which the liquid crystal monomer containing acrylate double bonds is selected as RM82, and the monomer containing thiol groups is selected as DODT and PETMP. The light absorption As the agent, choose ketocyanine dye containing an acrylate reactive group. At this time, the corresponding artificial muscle can respond to near-infrared light. Choose RM82: ketocyanine dye molar ratio of 9:1, DODT: PETMP molar ratio of 3 : 1, the molar ratio of reactant thiol group: acrylate group is 1:1, and the organic solvent is methylene chloride. Of course, other combined monomers that meet this condition can also be used as artificial muscle precursor materials.

Catalysts can also be used (DPA di-n-propylamine, HexAM hexylamine, TEA triethylamine, N, N, N ₀ , N ₀ -tetramethyl-1,8-naphthylenediamine (PS) and 1,8-diiso Azabispiro[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. In this embodiment, 4wt% DPA is selected as the catalyst.

In the stretching stage, the film can be stretched by 10% to 100% and fixed for 24-48h. In an embodiment of this solution, the film is stretched by 50%; in addition, in an embodiment of this solution, the film is stretched and fixed for 24 hours.

The artificial muscle film obtained by this solution has a thickness of 90 to 200 μm, a width of 2 to 6 mm, and a length of 6 to 40 mm. The artificial muscle material is a photodeformable material, and the artificial muscle can contract, expand, and deform under light stimulation.

This solution provides a device for self-sustaining fluctuations of light-driven artificial muscles, including:

Artificial muscle, wherein the raw material of the artificial muscle is a photodeformable polymer material doped with a light absorber;

Provide lighting devices for driving light sources;

The two ends of the curved artificial muscle are fixed, and the driving light source illuminates any position of the artificial muscle. Under the stimulation of the driving light source, the artificial muscle spontaneously and continuously produces local contraction and expansion to produce a wave structure.

In some embodiments, the lighting device is a commercial projector or other light source equipped with a photomask or grayscale image to provide a driving light source for a structured light pattern.

The technical features mentioned in the second embodiment are the same as those in the first embodiment, and repeated technical features will not be described redundantly here.

This solution provides an application of a method or device for self-sustained wave driving of light-driven artificial muscles. The artificial muscles are used to prepare a crawling robot and serve as an engine for the crawling robot to drive the crawling robot forward through waves. The artificial muscle is used to prepare a transmission device to serve as a conveyor belt of the transmission device to transport objects driven by waves.

In addition, this solution can produce three different waveforms: torsional wave, edge wave, and center wave. The ability to use the concave and convex fluctuations of the central wave to produce programmable peristalsis. Since the light spot pattern of the driving light source can be manually adjusted according to our needs, peristalsis can be generated at any position on the artificial muscle by changing the programmable light spot pattern, which can be controlled arbitrarily. Propagation trajectories of peristaltic wave trains, such as rhombus trajectories and triangular trajectories.

In some embodiments, artificial muscles are placed in various gas environments, and high-damping liquid environments.

In some embodiments, artificial muscles are placed on various curved surfaces, twisted surfaces, dynamic curved surfaces, and clothing.

In order to verify the technical content of this solution, specific examples are provided below for illustration:

Preparation Example 1:

Preparation of artificial muscles:

According to RM82: Keto cyanine dye molar ratio is 9:1, DODT: PETMP molar ratio is 3:1, reactant thiol group: acrylate group molar ratio is 1:1, organic solvent is methylene chloride, Shake for 30 seconds and mix well. Add 4wt% DPA as a catalyst to the mixed solution. After shaking and dissolving, pour the precursor solution into a 3cm◇3cm◇0.5cm square mold. After reacting for 3 hours at room temperature, carefully peel it off from the mold. Incompletely cross-linked film precursor; stretch the prepared incompletely cross-linked film by 50% and fix it for 24 hours to allow the thiol group and acrylate group to completely react, cross-link and solidify to obtain single-domain oriented liquid crystal elasticity body film. Finally, a strip-like rectangular structure is cut using a blade parallel to the orientation direction to be used as an artificial muscle.

Example 1:

A method for self-sustaining fluctuations of light-driven artificial muscles to generate torsional waves:

The length of the artificial muscle obtained in Preparation Example 1 is 15mm, the width is 3mm, the thickness is 0.12mm, and the fixed distance between the two ends is 12mm, as shown in Figure 2; the artificial muscle is irradiated with a near-infrared light source, where the near-infrared light source spot size is 15mm×15mm , the light intensity is ~0.15W cm ^-2 , the incident angle is 20°, and the structural light spot is shown in Figure 3.

Results: As shown in Figure 4, after turning on the near-infrared light source, the artificial muscle produced continuous torsional wave motion behavior, with a frequency and amplitude of 0.7Hz and 1.7mm respectively. The diagram at the bottom of Figure 4 illustrates the cyclic changes in amplitude and frequency of this torsional wave motion.

Example 2:

A method for light-driven artificial muscles to self-sustained fluctuations to generate edge waves:

Repeat the experiment of Example 1, except that the near-infrared light intensity is ~0.2W cm-2, the incident angle is 30°, and the structural light spot is as shown in Figure 3.

Results: As shown in Figure 5, after turning on the near-infrared light source, the artificial muscle produced continuous torsional wave motion behavior, with a frequency and amplitude of 0.4Hz and 1.5mm respectively. The diagram at the bottom of Figure 5 illustrates the periodic changes in amplitude and frequency of the edge wave motion.

Example 3:

A method for light-driven artificial muscles to self-sustained fluctuations to generate central waves:

Repeat the experiment of Example 1, except that the near-infrared light intensity is ~0.3W cm-2, the incident angle is 30°, and the structural light spot is as shown in Figure 3.

Results: As shown in Figure 6, after turning on the near-infrared light source, the artificial muscle produced continuous torsional wave motion behavior, with a frequency and amplitude of 1.5Hz and 0.7mm respectively. The diagram at the bottom of Figure 6 illustrates the periodic changes in the amplitude and frequency of the central wave motion.

Example 4: The light-driven self-sustained wave robot system inside the fluid produces torsional wave motion behavior under light:

Repeat the experiment of Example 1, except that the artificial muscle is immersed in liquid or on the air-liquid interface. The structural light spot is as shown in Figure 3.

The results are shown in Figure 7. After the near-infrared light source is turned on, the fiber actuator produces continuous wave motion at the fluid interface or in the fluid under light stimulation.

It can be seen that the artificial muscle of this solution can produce continuous wave motion in water, silicone oil, saturated saline, emulsion and diluted milk.

Example 5: A light-driven self-sustaining wave robot system generates wave motion under the stimulation of concentrated sunlight:

Repeat the experiment of Example 1, except that the light source used is concentrated sunlight. The concentrated sunlight is generated by direct sunlight shining on a Fresnel lens with a diameter of 20cm and a focal length of 12.5cm. The structural light spot is shown in Figure 3.

Results: As shown in Figure 8: Artificial muscles can produce continuous wave motion: torsional waves, edge waves, and center waves under concentrated sunlight.

Example 6: Application of light-driven self-sustaining wave robot system for crawling robots

The artificial muscle obtained in Preparation Example 1 was fixed in a square frame (outer frame 15mm*6mm*1mm, inner frame 12mm*4mm*1mm).

Results: As shown in Figure 9: Under light, the artificial muscles produce wave motion, and the wave motion is used to enable the crawling robot to move directionally.

Example 7: Application of light-driven self-sustaining wave robot system in transmission device

Both ends of the artificial muscle obtained in Preparation Example 1 were fixed on an inclined glass piece (the length of the artificial muscle was 42 mm, the fixed distance between the two ends was 35 mm, and the glass inclination angle was 15°).

Results: As shown in Figure 10: used as a soft motor and conveyor belt under light, overcoming gravity to transport goods (mass ~0.15g).

Example 8: Application of light-driven self-sustaining wave robot system on curved surfaces

Both ends of the artificial muscle obtained in Preparation Example 1 were fixed on a plastic sheet (the length of the artificial muscle was 30 mm, and the fixed distance between the two ends was 25 mm).

Results: As shown in Figure 11: it can work on curved substrate surfaces under illumination, can also work on twisted substrate surfaces, and can even adapt to dynamically curved complex surfaces, showing excellent mechanical plasticity.

Example 9: Application of light-driven self-sustaining wave robot system in wave pattern programming

The experiment of Example 1 is repeated, except for the structural light spot pattern. The structural light spot pattern is as shown in the inset of Figure 12.

Results: As shown in Figure 12: By controlling the patterned light spot, waves can be generated on both sides of the artificial muscle, or only on one side of the artificial muscle, or waves with different amplitudes can be generated on both sides of the artificial muscle, and the edges can also be A mixed traveling wave that combines the wave and central wave.

Example 10: Application of light-driven self-sustaining wave robot system in peristaltic wave programming

The experiment of Example 1 was repeated, except that the size of the artificial muscle (width 6 mm) and the structural light spot pattern were as shown in the inset in Figure 13 .

Results: As shown in Figure 12: Since the pattern of the light spot can be manually adjusted according to our needs, the propagation trajectory of the wave train can be arbitrarily controlled, such as triangular trajectory, diamond trajectory and S-shaped trajectory; a wave train can be made to follow a linear trajectory propagates, while another wave train propagates along a multi-line trajectory, which can be used to push two objects to produce different trajectories.

The present invention is not limited to the above-mentioned best embodiment. Anyone can produce various other forms of products under the inspiration of the present invention. However, regardless of any changes in its shape or structure, any product with the same or similar properties as the present invention can be made. Similar technical solutions all fall within the protection scope of the present invention.

Claims

A method for self-sustaining fluctuations of light-driven artificial muscles, which is characterized by including the following steps:

The two ends of the curved artificial muscle are fixed, and the driving light source illuminates the artificial muscle. The raw material of the artificial muscle is a photodeformable polymer material doped with a light absorber. Under the stimulation of the driving light source, the artificial muscle self-sustainably changes from the curved structure. Local contraction and expansion generate wave structures, where the wave structures include but are not limited to: torsional waves, edge waves, and central waves.
The method for self-sustaining wave motion of light-driven artificial muscles according to claim 1, characterized in that when the light intensity of the light spot driving the light source decreases from the center to both sides, the artificial muscle generates edge waves, and the amplitude of the wave motion is 0-1.5 mm. , frequency 0~1Hz; when the light intensity of the driving light source increases from the center to both sides, the artificial muscle generates a central wave, and the artificial muscle generates central wave motion. The amplitude of the wave motion is 0~1.0mm, and the frequency is 0~2Hz.
The method for self-sustained fluctuation of light-driven artificial muscles according to claim 1, characterized in that the driving light source increases the temperature of the artificial muscle light-irradiated area, and the increase in the in-plane compressive stress of the artificial muscle in the light-irradiated area causes the artificial muscle to move outward. direction produces local deformation.
The method for self-sustained fluctuation of light-driven artificial muscles according to claim 1, characterized in that the driving light source is a non-uniform light spot, and the non-uniform light spot has different illumination gradients.
The method for self-sustained fluctuation of light-driven artificial muscles according to claim 4, characterized in that the non-uniform light spot is a pattern structural light spot generated by a light source on a mask or a grayscale pattern.
The method for self-sustained fluctuation of light-driven artificial muscles according to claim 1, characterized in that a mold is used to preliminarily shape the liquid crystal elastomer oligomer mixed with a light absorber to obtain a sheet-like film precursor, and the sheet-like film precursor is After the body is uniaxially stretched, the cross-linking reaction is continued to obtain a film, and the film is cut into strip-shaped films to obtain artificial muscles, in which the liquid crystal elastomer oligomer is a monomer containing liquid crystal units.
The method for self-sustained fluctuation of light-driven artificial muscles according to claim 1, characterized in that the artificial muscle film has a thickness of 90 to 200 μm, a width of 2 to 6 mm, and a length of 6 to 40 mm.
A device for self-sustaining fluctuations of artificial muscles driven by light, characterized by including: artificial muscles, wherein the raw material of the artificial muscles is a photodeformable polymer material doped with a light absorber;

Provide lighting devices for driving light sources;

Fix both ends of the curved artificial muscle, and drive the light source to illuminate the artificial muscle.
, under the stimulation of the driving light source, the artificial muscle self-sustainably produces local contraction and expansion from the curved structure to produce a wave structure, where the wave structure includes but is not limited to: torsional waves, edge waves, and central waves.
An application of a method of self-sustained wave driving of artificial muscles by light, characterized in that the artificial muscles are used to prepare a crawling robot and serve as an engine of the crawling robot to drive the crawling robot forward through waves.
An application of a method of self-sustained wave driving of light-driven artificial muscles, characterized in that the artificial muscles are used to prepare a transmission device as a conveyor belt of the transmission device to drive objects for transmission through waves.