离子液凝胶软体机器人操作手  

Development of soft manipulator based on ionogel

作　　者：王志鹏[1] 何斌[2] 刘新华[3] 王启刚[3] 

机构地区：[1]同济大学机械与能源工程学院,上海201804 [2]同济大学电子与信息工程学院,上海201804 [3]同济大学化学系,上海200092

出　　处：《科学通报》2016年第23期2637-2646,共10页Chinese Science Bulletin

基　　金：国家自然科学基金(51275360);国家重点基础研究发展计划(2011CB013800);上海市基础重点项目(14JC1405900);中央高校基本科研业务费专项资金(20153686;20152152);中国博士后科学基金(2016M590381)资助

摘　　要：软体机器人可在大范围内任意改变自身形状与尺寸,对非结构化环境具有极强的适应性,在军事侦察、救援及医疗手术等领域具有广阔的应用前景.本文提出了一种基于离子液凝胶(ionogel,IG)的新型自驱动仿生软体机器人操作手.首先设计了IG软体驱动器,阐述了材料制备原理,在此基础上讨论了软体机器人机构设计方法;然后对IG驱动器变形机理进行深入分析;最后以驱动器为基本变形模块设计了软体操作手.实验结果表明,IG驱动器具有良好的驱动性能,软体操作手在3.5 V直流电压激励下可以抓取105 mg的物体.Soft robots have strong adaptive ability to unstructured environment due to their large deformation capacity. This type of robots can arbitrarily change their size and shape, and have wide potential applications in detection, succor, biology and medicine. Ionic electroactive polymers（EAPs） actuators are expected to be one of the most ideal driving mechanisms for soft robot due to their extraordinary features such as lightweight, flexibility and low-energy consumption. However, traditional EAP actuators e.g. ionic-polymer metal composites（IPMCs） have the defects of durability in open air due to evaporation of water contained in the electrolytes, resulting in corresponding performance reduction. In addition, electrolysis of the water at relatively low operating voltages may cause deterioration of these actuators. Ionic liquids are more thermally and electrochemically stable than water, with unique advantages including negligible volatility, low melting point and high ionic conductivity, and they are therefore can be used in the application of ionic EAP actuators. In this work, a novel ionogel based soft manipulator is developed, which can be operated at low driving voltage with high electrochemical stability. Aiming at the defects of traditional smart material（e.g IPMC）, a high performance ionogel based actuator was developed based on UV curing technology, which can be easily extended to 3D printing technology for sophisticated actuators. This new actuator is composed of five layers of different materials. The electroactive component layer sandwiched is ionogel, with a thickness of approximately 0.4 mm, and serves as a reservoir for the ions. The outside layers of activated carbon are used as the electrodes with a thickness of about 0.05 mm. In order to increase the conductivity of the electrodes, gold foil with a thickness of 12 ？m is coated on both sides of the component as capping layers. The design method of the soft mechanism is put forward according to screw theory. The degree of freedom and con

关 键 词：离子液凝胶 软体机器人 操作手 仿生设计 柔性机构 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]