技术领域technical field
本发明涉及一种可变形貌式双稳态电致活性聚合物机器人爬行脚。The invention relates to a deformable shape-type bistable electroactive polymer robot crawling foot.
背景技术Background technique
现有机器人的爬行脚底面采用刚性或者不可变的柔性表面，其爬行效果差、柔性差、仿生能力差等问题，从而解决现有技术很难在航空航天、人工肌肉、面部表情等领域应用。本发明是利用一种新型聚(丙烯酸叔丁酯)，它是一种新型聚合物(BSEP)。它能够刚性对刚性的驱动，并且结合了介电弹性体和形状记忆的特性，具有大变形的驱动特性。同时通过引入一种材料方法克服了它的拉伸不稳定特点。此外材料可同时记忆多种纳米尺度形貌，通过控制温度和电压可使其形貌逐步转变。他有一个略高于周围环境的玻璃转化温度(Tg)，当加热到Tg时，这种材料就会变成类似橡胶的弹性体。当降低温度和除去驱动电压时形状不变。这种结构是双稳态的。这个过程是可逆的和重复的，直到电解质破坏或者机械疲劳。这使得这种材料能够有一个很好的形貌变化。聚(丙烯酸叔丁酯)(PTBA)通过UV合成为双稳态电活性聚合物。通过这种方式合成的聚合物结构呈线性，使得他在室温条件下具有热缩性。好处是这种聚合物在溶剂中可溶且很容易处理成薄膜，例如在甲苯中。通过对外部电场的控制，使得BESP的形貌发生改变，进而改变粗糙程度达到改变摩擦力的效果。此外，这种材料的制造过程具有可扩展性和兼容工业标准。它有很好的形状记忆属性，应变100％恢复和形状记忆98％恢复。The bottom surface of the crawling feet of existing robots adopts rigid or immutable flexible surfaces, which have poor crawling effect, poor flexibility, and poor bionic ability, so that it is difficult to solve the problems of existing technologies in the fields of aerospace, artificial muscles, and facial expressions. The present invention utilizes a novel poly(tert-butyl acrylate), which is a novel polymer (BSEP). It is capable of rigid-to-rigid actuation, and combines the properties of dielectric elastomers and shape memory with large deformation actuation characteristics. At the same time, it overcomes its tensile instability characteristics by introducing a material method. In addition, the material can simultaneously memorize multiple nanoscale morphologies, and the morphologies can be gradually transformed by controlling temperature and voltage. He has a glass transition temperature (Tg) slightly higher than the surrounding environment, and when heated to Tg, the material turns into a rubber-like elastomer. The shape does not change when the temperature is lowered and the driving voltage is removed. This structure is bistable. This process is reversible and repeated until electrolyte breakdown or mechanical fatigue. This enables the material to have a nice shape change. Poly(tert-butyl acrylate) (PTBA) was synthesized as a bistable electroactive polymer by UV. The polymer synthesized in this way has a linear structure, making it heat-shrinkable at room temperature. The advantage is that this polymer is soluble in solvents and can be easily processed into thin films, for example in toluene. Through the control of the external electric field, the shape of the BESP is changed, and then the roughness is changed to achieve the effect of changing the friction force. Furthermore, the fabrication process of this material is scalable and compatible with industry standards. It has excellent shape memory properties, with 100% recovery from strain and 98% recovery from shape memory.
发明内容Contents of the invention
本发明的目的是通过运用双稳态电致活性聚合物(包含形状记忆和介电弹性的新的聚合物)改变以往被动改变机器人爬行脚下表面的粗糙程度、仿生能力、柔韧性等问题。The purpose of the present invention is to change the roughness, bionic ability, flexibility and other problems of passively changing the crawling foot surface of robots in the past by using bistable electroactive polymers (new polymers containing shape memory and dielectric elasticity).
本发明所采用的技术如下：The technology adopted in the present invention is as follows:
一种可变形貌式双稳态电致活性聚合物机器人爬行脚机构，包括两个爬行脚和驱动装置，驱动装置的两端分别与两个爬行脚连接，所述的爬行脚底部覆盖有膜片执行器，所述的膜片执行器包括层状聚丙烯酸叔丁酯膜、加热器元件阵列和硅胶板，硅胶板上以平均间隔开有多个镂空的孔，加热器元件阵列上面覆有层状聚丙烯酸叔丁酯膜，层状聚丙烯酸叔丁酯膜上覆有硅胶板；层状聚丙烯酸叔丁酯膜和加热器元件阵列分别设置有两个电极的引出端；A deformable shape-type bistable electroactive polymer robot crawling foot mechanism, including two crawling feet and a driving device, the two ends of the driving device are respectively connected to the two crawling feet, and the bottom of the crawling feet is covered with Diaphragm actuator, described diaphragm actuator comprises lamellar poly(tert-butyl acrylate) film, heater element array and silica gel plate, has a plurality of hollowed-out holes at even intervals on the silica gel plate, and the heater element array is covered with There is a layered tert-butyl polyacrylate film, and the layered tert-butyl polyacrylate film is covered with a silica gel plate; the layered tert-butyl polyacrylate film and the heater element array are respectively provided with two electrode leads;
当向前爬行时：When crawling forward:
第一爬行脚和第二爬行脚分别受到驱动装置的驱动力驱动，同时对第一爬行脚底部覆盖的膜片执行器施加电压，层状聚丙烯酸叔丁酯膜发生突起；第二爬行脚的膜片执行器形貌不发生变化；驱动力小于第一爬行脚的最大静摩擦力大于第二爬行脚的最大静摩擦力，驱动装置给第二爬行脚向前运动的作用力，第一爬行脚保持静止，第二爬行脚向前运动；当第二爬行脚的最大静摩擦力大于第一爬行脚的最大静摩擦力时，使得第二爬行脚保持静止，第一爬行脚向前运动，如此往复的驱动，促使机器人向前爬行；The first crawling foot and the second crawling foot are respectively driven by the driving force of the driving device, and at the same time, a voltage is applied to the diaphragm actuator covered on the bottom of the first crawling foot, and the layered poly(tert-butyl acrylate) film protrudes; the second crawling foot’s The shape of the diaphragm actuator does not change; the driving force is smaller than the maximum static friction force of the first crawling foot and greater than the maximum static friction force of the second crawling foot, the driving device gives the second crawling foot the force to move forward, and the first crawling foot maintains At rest, the second crawling foot moves forward; when the maximum static friction force of the second crawling foot is greater than the maximum static friction force of the first crawling foot, the second crawling foot remains stationary, and the first crawling foot moves forward, so reciprocating drive , prompting the robot to crawl forward;
当向后爬行时：When crawling backwards:
第一爬行脚和第二爬行脚分别会受到驱动装置的驱动力驱动，同时对第二爬行脚底部覆盖的膜片执行器施加电压，层状聚丙烯酸叔丁酯膜发生突起；第一爬行脚的膜片执行器形貌不发生变化；驱动力小于第二爬行脚的最大静摩擦力大于第一爬行脚的最大静摩擦力，使得第二爬行脚保持静止第一爬行脚向后运动；第一爬行脚的最大静摩擦力大于第二爬行脚的最大静摩擦力时，使得第一爬行脚保持静止，第二爬行脚向后运动，如此往复的驱动，促使机器人向后爬行。The first crawling foot and the second crawling foot will be respectively driven by the driving force of the driving device, and at the same time, a voltage will be applied to the diaphragm actuator covered on the bottom of the second crawling foot, and the layered poly(tert-butyl acrylate) film will protrude; the first crawling foot The shape of the diaphragm actuator does not change; the driving force is less than the maximum static friction force of the second crawling foot is greater than the maximum static friction force of the first crawling foot, so that the second crawling foot remains stationary and the first crawling foot moves backward; the first crawling foot When the maximum static friction force of the foot is greater than the maximum static friction force of the second crawling foot, the first crawling foot remains stationary, and the second crawling foot moves backwards, so the reciprocating drive impels the robot to crawl backwards.
本发明与现有技术相比具有以下有益效果：本发明具有所需响应时间相对短、体积小、耗电量小、机械结构简单、成本低、重量轻、柔性好、仿生性能优异的优点。本发明采用双稳态电致活性聚合物薄膜是一种智能高分子材料，它能够在外加电场作用下，通过材料内部结构改变而伸缩、弯曲、束紧和膨胀。本发明在面部表情、航空航天、机器人、机器昆虫、人工肌肉、噪声控制、触觉接口、肌肉的复位与增长、液体和气体流量控制等众多领域广泛应用。此技术通过改变其材料形貌(纳米级别)增加表面粗糙成度，也可以增强材料的对胶接强度，同时在可变性细胞，可调节疏水性能方面有巨大潜在应用价值。Compared with the prior art, the present invention has the following beneficial effects: the present invention has the advantages of relatively short required response time, small volume, low power consumption, simple mechanical structure, low cost, light weight, good flexibility and excellent bionic performance. The bistable electroactive polymer film used in the present invention is a kind of intelligent polymer material, which can be stretched, bent, tightened and expanded by changing the internal structure of the material under the action of an external electric field. The invention is widely used in many fields such as facial expression, aerospace, robot, robotic insect, artificial muscle, noise control, tactile interface, muscle reset and growth, liquid and gas flow control, etc. This technology increases the surface roughness by changing the material morphology (nano-level), and can also enhance the bonding strength of the material. At the same time, it has great potential application value in variable cells and adjustable hydrophobic properties.
附图说明Description of drawings
图1是爬行机器人结构图‘Figure 1 is the structure diagram of the crawling robot'
图2是机器人爬行脚底部膜片执行器结构图。Figure 2 is a structural diagram of the diaphragm actuator on the bottom of the crawling foot of the robot.
具体实施方式Detailed ways
实施例1Example 1
如图1-2所示，一种可变形貌式双稳态电致活性聚合物机器人爬行脚机构，包括两个爬行脚1.2和驱动装置3，驱动装置3的两端分别与两个爬行脚1.2连接，所述的爬行脚底部覆盖有膜片执行器4，所述的膜片执行器4包括层状聚丙烯酸叔丁酯膜5、加热器元件阵列6和硅胶板7，硅胶板7上以平均间隔开有多个镂空的孔，加热器元件阵列6上面覆有层状聚丙烯酸叔丁酯膜7，层状聚丙烯酸叔丁酯膜5上覆有硅胶板6；层状聚丙烯酸叔丁酯膜5和加热器元件阵列6分别设置有两个电极的引出端；驱动装置3由电脑控制；As shown in Figure 1-2, a deformable morphology bistable electroactive polymer robot crawling foot mechanism includes two crawling feet 1.2 and a driving device 3, and the two ends of the driving device 3 are connected to the two crawling feet respectively. The foot 1.2 is connected, and the bottom of the crawling foot is covered with a diaphragm actuator 4, and the diaphragm actuator 4 includes a layered poly(tert-butyl acrylate) film 5, a heater element array 6 and a silica gel plate 7, the silica gel plate 7 There are a plurality of hollow holes at even intervals, the heater element array 6 is covered with a layered polyacrylate tert-butyl film 7, and the layered polyacrylate film 5 is covered with a silica gel plate 6; The tert-butyl ester film 5 and the heater element array 6 are respectively provided with lead-out ends of two electrodes; the driving device 3 is controlled by a computer;
当向前爬行时：When crawling forward:
第一爬行脚1和第二爬行脚2分别受到驱动装置3的驱动力驱动，同时对第一爬行脚1底部覆盖的膜片执行器4施加电压，层状聚丙烯酸叔丁酯膜7在Maxwell力作用下和加热器元件阵列6的作用下发生突起，增大第一爬行脚1的膜片执行器表面的粗糙程度；而第二爬行脚2的膜片执行器形貌不发生变化；第一爬行脚1底面粗糙度大于第二爬行脚2底面的粗糙度，所以第一爬行脚1的最大静摩擦力大于第二爬行脚2的最大静摩擦力；驱动力小于第一爬行脚1的最大静摩擦力大于第二爬行脚2的最大静摩擦力，使得驱动装置给第二爬行脚2向前运动的作用力，使得第一爬行脚1保持静止，第二爬行脚2向前运动；当第二爬行脚2的最大静摩擦力大于第一爬行脚1的最大静摩擦力时，使得第二爬行脚2保持静止，第一爬行脚1向前运动，如此往复的驱动，促使机器人向前爬行。The first crawling foot 1 and the second crawling foot 2 are respectively driven by the driving force of the driving device 3. At the same time, a voltage is applied to the diaphragm actuator 4 covered on the bottom of the first crawling foot 1. Protrusion occurs under the action of force and the action of the heater element array 6, which increases the roughness of the surface of the diaphragm actuator of the first crawling foot 1; while the shape of the diaphragm actuator of the second crawling foot 2 does not change; the second The roughness of the bottom surface of the first crawling foot 1 is greater than the roughness of the bottom surface of the second crawling foot 2, so the maximum static friction force of the first crawling foot 1 is greater than the maximum static friction force of the second crawling foot 2; the driving force is smaller than the maximum static friction force of the first crawling foot 1 The force is greater than the maximum static friction force of the second crawling foot 2, so that the driving device gives the second crawling foot 2 an active force to move forward, so that the first crawling foot 1 remains stationary, and the second crawling foot 2 moves forward; when the second crawling foot 2 When the maximum static friction force of the foot 2 is greater than the maximum static friction force of the first crawling foot 1, the second crawling foot 2 remains stationary, and the first crawling foot 1 moves forward, so that the reciprocating drive impels the robot to crawl forward.
当向后爬行时：When crawling backwards:
第一爬行脚1和第二爬行脚2分别会受到驱动装置的驱动力驱动，同时对第二爬行脚2底部覆盖的膜片执行器4施加电压，层状聚丙烯酸叔丁酯膜5在Maxwell力作用下和加热器元件阵列的作用下发生突起，而增大第二爬行脚膜片执行器表面的粗糙程度；第一爬行脚1的膜片执行器形貌不发生变化；第二爬行脚2底面粗糙度大于第一爬行脚1底面的粗糙度，第二爬行脚2的最大静摩擦力大于第一爬行脚1的最大静摩擦力，当驱动力小于第二爬行脚2的最大静摩擦力大于第一爬行脚1的最大静摩擦力，使得第二爬行脚2保持静止第一爬行脚1向后运动；当第一爬行脚1的最大静摩擦力大于第二爬行脚2的最大静摩擦力时，使得第一爬行脚1保持静止，第二爬行脚2向后运动，如此往复的驱动，促使机器人向后爬行。The first crawling foot 1 and the second crawling foot 2 will be respectively driven by the driving force of the driving device, and at the same time, a voltage will be applied to the diaphragm actuator 4 covered by the bottom of the second crawling foot 2. Protrusion occurs under the action of force and heater element array, which increases the roughness of the surface of the diaphragm actuator of the second crawling foot; the shape of the diaphragm actuator of the first crawling foot 1 does not change; the second crawling foot 2 The roughness of the bottom surface is greater than the roughness of the bottom surface of the first crawling foot 1, the maximum static friction force of the second crawling foot 2 is greater than the maximum static friction force of the first crawling foot 1, when the driving force is smaller than the maximum static friction force of the second crawling foot 2 is greater than the first The maximum static friction force of a crawling foot 1 makes the second crawling foot 2 remain stationary and the first crawling foot 1 moves backward; when the maximum static friction force of the first crawling foot 1 is greater than the maximum static friction force of the second crawling foot 2, the second crawling foot 2 One crawling foot 1 remains stationary, and the second crawling foot 2 moves backwards, so the reciprocating drive impels the robot to crawl backwards.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310103786.5ACN103208942B (en) | 2013-03-14 | 2013-03-14 | Morphology-changeable bi-stable electro-active polymer robot crawling foot mechanism |
| Application Number | Priority Date | Filing Date | Title |
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| CN201310103786.5ACN103208942B (en) | 2013-03-14 | 2013-03-14 | Morphology-changeable bi-stable electro-active polymer robot crawling foot mechanism |
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| CN103208942A CN103208942A (en) | 2013-07-17 |
| CN103208942Btrue CN103208942B (en) | 2015-04-01 |
| Application Number | Title | Priority Date | Filing Date |
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| CN201310103786.5AActiveCN103208942B (en) | 2013-03-14 | 2013-03-14 | Morphology-changeable bi-stable electro-active polymer robot crawling foot mechanism |
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| JP6225268B2 (en) | 2014-01-28 | 2017-11-01 | 浙江大学Ｚｈｅｊｉａｎｇ Ｕｎｉｖｅｒｓｉｔｙ | Flexible smart power structure |
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