硫酸纸的湿度响应特性及其在软机器设计中的应用  

Humidity Response Characteristics and Application of Sulfuric Acid Paper to Soft Machine

作　　者：代瑶 臧红彬[1,2] 屈涛 DAI Yao;ZANG Hongbin;QU Tao(School of Manufacturing Science and Engineering,Southwest University of Science and Technology,Mianyang 621010,Sichuan,China;The Ministry of Education Key Laboratory of Testing Technology for Manufacturing Process,Southwest University of Science and Technology,Mianyang 621010,Sichuan,China)

机构地区：[1]西南科技大学制造科学与工程学院,四川绵阳621010 [2]西南科技大学制造过程测试技术教育部重点实验室,四川绵阳621010

出　　处：《机械科学与技术》2022年第3期337-341,共5页Mechanical Science and Technology for Aerospace Engineering

基　　金：西南科技大学博士研究基金项目(19zx7166)。

摘　　要：硫酸纸具有较好的湿度响应特性,研究了其变形机理,设计了智能结构,并将其应用于新型软机器的设计。首先,对硫酸纸的微观结构以及力学性能进行了表征分析,表明其纸平面具有各向异性,可实现卷曲、螺旋等运动模式,给出其变形机理;设计了一款可自折叠立方体智能结构,并通过有限元分析与实验相结合验证了其可行性;其次,提出了基于智能纸张的软驱动器,并应用于水下自适应软体抓手设计,其无需外接细绳输入,依靠湿度环境就可以实现运动控制,且最大可提升比自身重45倍的物体;最后,带式蠕动机器人可在稳定的环境下实现连续性运动,速度可达到每秒0.06倍体长。该智能材料在软机器领域具有良好的应用前景。The sulfuric acid paper is sensitive to humidity, the deformation mechanism is studied, the intelligent structure is designed, and it is proposed to apply to the design of the soft machine. Firstly, the microstructure and mechanical properties of sulfuric acid paper were characterized and analyzed, which indicated that the paper plane is anisotropic and can realize motion modes such as curling and spiraling, and the deformation mechanism is given;an intelligent structure of self-folding cube was designed and guided with the finite element analysis and verified with the experimental results. Secondly, a soft actuator based on smart paper is proposed and applied to the design of an underwater adaptive soft gripper. It does not require an external string input,and can achieve motion control depending on the humidity environment, and can lift objects that are 45 times heavier than itself.Finally, the strip worm-bot can achieve continuous motion in a stable environment, and the speed can reach 0.06 BL/s. It will be a good prospect for the smart material to use in soft machines.

关 键 词：硫酸纸 湿度 响应特性 智能结构 软机器 

分 类 号：TB332[一般工业技术—材料科学与工程]