智能软材料多场耦合本构理论及其在软体机器中的应用  

Multifield coupling constitutive theory of soft materials and its applications in soft robotics

作　　者：肖锐 钱劲[1,2] 曲绍兴 XIAO Rui;QIAN Jin;QU ShaoXing(Huanjiang Laboratory,Zhuji 311800,China;Key Laboratory of Sof Machines and Smari Devices of Zhejang Province,Department of Engineering Mechanics Zhejiang University,Hangzhou 310027,China)

机构地区：[1]浣江实验室,诸暨311800 [2]浙江大学工程力学系,浙江省软体机器人与智能器件研究重点实验室,杭州310027

出　　处：《中国科学：物理学、力学、天文学》2024年第6期2-14,共13页Scientia Sinica Physica,Mechanica & Astronomica

基　　金：国家自然科学基金(编号:12321002,112272341);浙江省自然科学基金(编号:LD22A020001);浣江实验室专项资助项目。

摘　　要：智能软材料能在外场作用下产生激励效应,且其智能响应行为与大变形深度耦合,这对建立其力学本构理论提出了重要挑战.本文以形状记忆聚合物、液晶弹性体、介电弹性体、磁敏弹性体、智能水凝胶为代表性智能软材料,介绍了上述材料的发展概况以及在相关多场耦合本构理论领域的进展.智能软材料在软体机器人领域也有着广泛的应用前景,因此,本文也将探讨基于软材料多场耦合理论模型来设计软体机器人的现状以及不足之处,以期为后续该领域的发展提供借鉴.Soft active materials exhibit response to external stimuli.The response behaviors are deeply coupled with large deformations,giving rise to challenges in developing constitutive theories.In this paper,we review the recent developments in the characterization and multifield modeling of typical soft active materials,including shape-memory polymers,liquid crystal elastomers,dielectric elastomers,magnetosensitive elastomers,and smart hydrogels.Additionally,we also discuss the current status and limitations of the application of multifield coupling theoretical models to soft robot design,with the objective of offering insights for the future development of smart soft materials and soft robotics.

关 键 词：软材料 软体机器人 多场耦合 

分 类 号：O341[理学—固体力学] TB381[理学—力学]