WO2023216343A1 - Procédé d'ondulation spontanée et continue entraînée par la lumière pour muscle artificiel et système et applications - Google Patents

Procédé d'ondulation spontanée et continue entraînée par la lumière pour muscle artificiel et système et applications Download PDF

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WO2023216343A1
WO2023216343A1 PCT/CN2022/096521 CN2022096521W WO2023216343A1 WO 2023216343 A1 WO2023216343 A1 WO 2023216343A1 CN 2022096521 W CN2022096521 W CN 2022096521W WO 2023216343 A1 WO2023216343 A1 WO 2023216343A1
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light
wave
artificial muscle
artificial
self
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PCT/CN2022/096521
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English (en)
Chinese (zh)
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吕久安
赵桐辉
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西湖大学
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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
    • 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

Definitions

  • 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.
  • 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.
  • 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.
  • gel materials must work in wet environments, while most engineering applications work in dry environments.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • structural programming of arbitrary peristaltic waves can also be realized.
  • 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.
  • 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.
  • the artificial muscle 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.
  • a wave structure which includes but is not limited to: torsional waves, edge waves, and central waves.
  • light-controlled artificial muscles can produce at least three self-sustaining wave motion behaviors: torsional waves, edge waves, and central waves.
  • this solution can also realize adjustable and programmable peristaltic waves, thereby achieving control of the propagation trajectory of arbitrary wave trains.
  • the curved material 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.
  • the artificial muscle 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 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the artificial muscles form torsional waves, edge waves and central waves in situ, and different waves can be freely switched in situ.
  • the mask 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:
  • 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.
  • the artificial muscle in this solution is a strip-shaped film material
  • 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.
  • the liquid crystal elastomer 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.
  • 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.
  • 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.
  • the light absorbing agent in the raw material of the artificial muscle is selected as a near-infrared absorbing dye.
  • the artificial muscle can convert near-infrared light into heat to achieve light stimulation to produce deformation.
  • 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.
  • 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.
  • 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 choose ketocyanine dye containing an acrylate reactive group.
  • the corresponding artificial muscle can respond to near-infrared light.
  • DODT PETMP molar ratio of 3 : 1
  • the molar ratio of reactant thiol group: acrylate group is 1:1
  • the organic solvent is methylene chloride.
  • 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.
  • 4wt% DPA is selected as the catalyst.
  • the film 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 ⁇ m, 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;
  • 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.
  • 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.
  • 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.
  • this solution can produce three different waveforms: torsional wave, edge wave, and center wave.
  • artificial muscles are placed in various gas environments, and high-damping liquid environments.
  • artificial muscles are placed on various curved surfaces, twisted surfaces, dynamic curved surfaces, and clothing.
  • 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
  • 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.
  • a method for light-driven artificial muscles to self-sustained fluctuations to generate edge waves :
  • Example 3 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.
  • a method for light-driven artificial muscles to self-sustained fluctuations to generate central waves :
  • Example 3 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.
  • Example 4 The light-driven self-sustained wave robot system inside the fluid produces torsional wave motion behavior under light:
  • Example 3 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 fiber actuator 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.
  • 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:
  • Example 3 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.
  • 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).
  • 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°).
  • 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).
  • Example 9 Application of light-driven self-sustaining wave robot system in wave pattern programming
  • Example 1 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.
  • 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
  • Example 1 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 .
  • 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.
  • 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.

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Abstract

La présente invention concerne un procédé et un appareil d'ondulation spontanée et continue entraînée par la lumière pour un muscle artificiel et des applications. Le procédé comprend les étapes consistant à : fixer deux extrémités d'un muscle artificiel incurvé ; une source de lumière d'entraînement irradiant le muscle artificiel, la matière première du muscle artificiel étant un matériau polymère à déformation photo-induite dopé avec un absorbeur de lumière ; et sous la stimulation de la source de lumière d'entraînement, le muscle artificiel génère de manière spontanée et continue une contraction et une relaxation locales à partir d'une structure incurvée de façon à générer une structure d'onde, la structure d'onde comprenant, mais sans s'y limiter : une onde de torsion, une onde de bord et une onde centrale. Sous l'irradiation de différents points lumineux structurés, la structure artificielle peut générer spontanément différentes formes d'onde, qui peuvent se propager dans une certaine direction ; en outre, le muscle artificiel peut réaliser une programmation structurée pour toute onde péristaltique et peut ainsi être appliqué à divers scénarios de commande d'onde.
PCT/CN2022/096521 2022-05-09 2022-06-01 Procédé d'ondulation spontanée et continue entraînée par la lumière pour muscle artificiel et système et applications WO2023216343A1 (fr)

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