Mechanically Programmable Dip Molding of High Aspect Ratio Soft Actuator Arrays

This work presents multiple methods of creating high aspect ratio fluidic soft actuators that can be formed individually or in large arrays via dip coating. Within this methodology, four strategies are provided to mechanically program the motion of these actuators, including the use of fiber inclusions, gravity, surface tension, and electric fields. The modular nature of this dip coating fabrication technique is inexpensive, easy to modify, and scalable. These techniques are used to demonstrate the fabrication of soft actuators with aspect ratios up to 200:1 and integrated arrays of up to 256 actuators. Furthermore, these methods have the potential to achieve higher aspect ratios and larger array sizes. Operating pressure, curvature, and curling strength tests reveal the design space in which fabrication parameters can be selected to tune the input and output parameters of soft bending actuators. An individual bending actuator made with these methods weighs between 0.15 and 0.5 g, can hold up to 2 N, and can be designed to work in groups to increase curling strength with distributed contact forces. Arrays of these actuators may be useful in atypical grasping and manipulation tasks, fluid manipulation, and locomotion.     

A Magnet-Driven Soft Bistable Actuator

Bistable morphing structures are widely used as actuation mechanisms in soft actuators, soft robotics, energy absorbers, mechanical computers, optical lenses, metamaterials, and flexible electronics. However, untethered actuators, repetitive actuators, and hybrid-assembly (containing in-plane-assembly and out-of-plane-assembly) actuators remain challenging to realize using existing bistable structures, which hinders the novel application of such actuators in research, engineering, and daily life. This problem is solved by fabricating a magnet-driven soft bistable actuator (MSBA) unit. The self-buckling of the circular polydimethylsiloxane (PDMS) sheet ensures the bistability of the actuator and allows it to operate as an independent unit, free of external constraints. The reorientation of neodymium-iron-boron (NdFeB) microparticles embedded in the PDMS sheet enables the dome-shaped actuators to exhibit repetitive snapping under the stimulus of a direction-switching magnetic field. The potential of this MSBA unit in bionics, electronics, and biomechanics applications is demonstrated in systematic studies involving modification of the buckling deflection and magnetic moment density. The MSBA unit exhibits excellent performance in hybrid designs and intelligent systems.     

Patterning Colloidal Crystals and Nanostructure Arrays by Soft Lithography

As one of the most robust and versatile routes to fabricate ordered micro‐ and nanostructures, soft lithography has been extensively applied to pattern a variety of molecules, polymers, biomolecules, and nanomaterials. This paper provides an overview on recent developments employing soft lithography methods to pattern colloidal crystals and related nanostructure arrays. Lift‐up soft lithography and modified microcontact printing methods are applied to fabricate patterned and non‐close‐packed colloidal crystals with controllable lattice spacing and lattice structure. Combining selective etching, imprinting, and micromolding methods, these colloidal crystal arrays can be employed as templates for fabrication of nanostructure arrays. Realization of all these processes is favored by the solvent swelling, elasticity, thermodecomposition, and thermoplastic characteristics of polymer materials. Applications of these colloidal crystals and nanostructure arrays have also been explored, such as biomimetic antireflective surfaces, superhydrophobic coatings, surface‐enhanced Raman spectroscopy substrates, and so on.     

Design, Fabrication, and Operation of Two-Dimensional Conveyance System With Ciliary Actuator Arrays

In this paper, we present the design, fabrication, and operation of a two-dimensional (2-D) microconveyance system. Conceptually, this system was designed as a mechanical part of an autonomous decentralized system composed of integrated micro actuator–sensor–controller cells. The presented system is a 2-D ciliary motion system (2-D CMS) composed of arrayed cantilever actuators. The actuators are made of two types of polyimide with different thermal expansion coefficients. They are thermally driven by flowing current in laminated heaters between the polyimide layers. We investigated the 2-D conveyance characteristics of the 2-D CMS consisting of $20 times 20$ cells. Each cell has a pitch of 1420 $mu$m consisting of four actuators of 500 $mu$m in length. The conveyance was performed in a voltage range of 19–32 V, which corresponds to approximately 48–136 mW/cell, in a frequency range of 1–100 Hz, which corresponds to approximately 2–18 $mu$m of minimum step size. We operated it in a feedback control scheme. In feedback operation mode, the 2-D CMS was controlled with a charge-coupled device (CCD) camera regulated by a PC and a programmable logic device (PLD). We succeeded to convey an object to a predetermined target point on the surface of the CMS.      

基于CPG的离子液体凝胶软体驱动器的仿真分析

通过对中枢模式发生器(Central Pattern Generator,CPG)、高层控制中枢以及反射调节网络等生物运动控制系统进行仿真模拟,使仿生机器人实现更自然、协调以及具有环境适应性的运动.借鉴基于自然界动物行走机理的生物诱导控制方法,从机器人控制的视角阐述CPG的仿真模拟和应用.连续体软体驱动器经过离散化后,满足CPG控制方法的条件,因此,基于CPG的仿生方法可用于软体机器人驱动器的控制.     

Nanocellulose-Based Functional Materials: From Chiral Photonics to Soft Actuator and Energy Storage

Nanocellulose is currently in the limelight of extensive research from fundamental science to technological applications owing to its renewable and carbon-neutral nature, superior biocompatibility, tailorable surface chemistry, and unprecedented optical and mechanical properties. Herein, an up-to-date account of the recent advancements in nanocellulose-derived functional materials and their emerging applications in areas of chiral photonics, soft actuators, energy storage, and biomedical science is provided. The fundamental design and synthesis strategies for nanocellulose-based functional materials are discussed. Their unique properties, underlying mechanisms, and potential applications are highlighted. Finally, this review provides a brief conclusion and elucidates both the challenges and opportunities of the intriguing nanocellulose-based technologies rooted in materials and chemistry science. This review is expected to provide new insights for nanocellulose-based chiral photonics, soft robotics, advanced energy, and novel biomedical technologies, and promote the rapid development of these highly interdisciplinary fields, including nanotechnology, nanoscience, biology, physics, synthetic chemistry, materials science, and device engineering.     

Light-Responsive Programmable Shape-Memory Soft Actuator Based on Liquid Crystalline Polymer/Polyurethane Network

Liquid crystalline polymers (LCPs), especially liquid crystalline elastomers (LCEs) can generate ultrahigh shape change amplitude but has lower mechanical strength. Although some attempts have been tried to improve the mechanical performance of LCE, there are still limitations including complicated fabrication and high actuation temperature. Here, a versatile method is reported to fabricate light-driven actuator by covalently cross-linking polyurethane (PU) into LCP networks (PULCN). This new scheme is distinct from the previous interpenetrating network strategy, the hydrogen bonds and covalent bonds are used in this study to improve the miscibility of non-liquid-crystalline PU and LCP materials and enhance the stability of the composite system. This material not only possesses the shape memory properties of PU but shows shape-changing behavior of LCPs. With a shrinkage ratio of 20% at the phase transition temperature, the prepared materials reached a maximum mechanical strength of 20 MPa, higher than conventional LCP. Meanwhile, the resulting film shows diverse and programmable initial shapes by constructing crosslinking density gradient across the thickness of the film. By integration of PULCN with near-infrared light-responsive polydopamine, local and sequential light control is achieved. This study may provide a new route for the fabrication of programmable and mechanically robust light-driven soft actuator.     

A Versatile Ionomer-Based Soft Actuator with Multi-Stimulus Responses,Self-Sustainable Locomotion,and Photoelectric Conversion

The prospects of endowing artificial robotics or devices with increasingly complex and emergent life-like behaviors have attracted growing interest in the soft functional materials that mimic the versatile motions of living creatures in the iridescent nature. However, despite the flourishing achievements so far, soft actuators capable of sensitive multi-stimulus responses and self-sustainable movements, have been extensively pursued to reduce control complexity yet remains a challenging target. Here, through material-structural synergistic design incorporating stress-mismatching structure, high pseudo-negative coefficient of thermal expansion of perfluoro-sulfonic acid ionomer, comprehensive converting properties of carbon nanotube, and anisotropic large thermal expansion of PE polymer, an ionomer-based bilayer actuator is proposed, presenting high-performance actuation of various forms and nice stability, responsive to light (including sunlight without focusing, LED light), low voltage, mild heating, and humidity/solvent change. With a built-in structural feedback loop, the actuation performances are further explored to realize intelligent systems, including: 1) self-sustainable locomotion under sunlight irradiation with adjustable photophobic and phototropic direction as well as adaption to different topographies and loading conditions, 2) self-sustainable oscillation and solar-electric generating, and 3) bionic floristic reaction according to environmental change. These diversified actuation modes allow promising following-up designs for bio-hybrid soft robotics fueled by and harmonized with natural environments.     

Fast‐Response,Stiffness‐Tunable Soft Actuator by Hybrid Multimaterial 3D Printing

Soft robots have the appealing advantages of being highly flexible and adaptive to complex environments. However, the low‐stiffness nature of the constituent materials makes soft robotic systems incompetent in tasks requiring relatively high load capacity. Despite recent attempts to develop stiffness‐tunable soft actuators by employing variable stiffness materials and structures, the reported stiffness‐tunable actuators generally suffer from limitations including slow responses, small deformations, and difficulties in fabrication with microfeatures. This work presents a paradigm to design and manufacture fast‐response, stiffness‐tunable (FRST) soft actuators via hybrid multimaterial 3D printing. The integration of a shape memory polymer layer into the fully printed actuator body enhances its stiffness by up to 120 times without sacrificing flexibility and adaptivity. The printed Joule‐heating circuit and fluidic cooling microchannel enable fast heating and cooling rates and allow the FRST actuator to complete a softening–stiffening cycle within 32 s. Numerical simulations are used to optimize the load capacity and thermal rates. The high load capacity and shape adaptivity of the FRST actuator are finally demonstrated by a robotic gripper with three FRST actuators that can grasp and lift objects with arbitrary shapes and various weights spanning from less than 10 g to up to 1.5 kg.     

Highly Bendable Ionic Soft Actuator Based on Nitrogen‐Enriched 3D Hetero‐Nanostructure Electrode

Electrically responsive ionic soft actuators that can exhibit large bending strain under low electrical input power are promising candidates for future soft electronics and wearable devices. However, some drawbacks such as low blocking force, slow response time, and poor durability should be overcome for practical engineering applications. Herein, this study reports defect‐engineered 3D graphitic carbon nitride (GCN) and nitrogen‐doped graphene (NG) hetero‐nanostructure that were developed by one‐pot hydrothermal method in order to design functionally antagonistic hybrid electrodes for superior ionic soft actuators. While NG facilitates rapid electron transfer in 3D networked nanoarchitectures, the enriched‐nitrogen content in GCN provides good wettability and mechanical resiliency with poly(3,4 ethylenedioxythiophene) polystyrene sulfonate (PEDOT:PSS). The 3D hybrid nanostructures generate unimpeded ion channels and sufficient contact area with the electrolyte membrane to provide higher capacitance and mechanical integrity, which are critical prerequisites for high‐performance actuation. The developed soft actuator based on the nitrogen‐enriched 3D hetero‐nanostructure is found to exhibit large bending strain (0.52%), wide frequency response, 5 h durability (93% retention), 2.4 times higher bending displacement, and twofold higher electromechanical efficiency compared to PEDOT:PSS under ±0.5 V input voltage. Such 3D functionally antagonistic hybrid electrodes offer hitherto unavailable opportunities in developing ultralow voltage‐driven ionic actuators for the next‐generation soft electronics.     

XY拾音制式与MS拾音制式的等效转换

从传声器指向性系数的角度入手,简单介绍了XY制式和MS制式的拾音原理,提出了XY制式与MS制式等效转换的一种计算方法,并对其进行了讨论。     

自感知执行器—传感器、执行器集成新概念

总结了传感器与执行器集成的两种方式,即结构集成和功能集成,功能集成就是自感知执行器,如果待测信号能从执行器的控制信号中分离出来,理论上讲基于电磁耦合和机电耦合等可逆效应的换能器都可作自感知执行器,重点分析了压电材料作自感知执行器的物理基础,基于应变速度电桥电路制成了压电陶瓷自感知执行器,实验表明能有效抑制悬臂梁的振动。     

柔性晶体管阵列

现在市场上出现了柔性晶体管阵列并且前景诱人，但是在柔性阵列技术进入主流市场之前还要克服不少困难。     

基于压电动力的双级式驱动器

采用双级结构，以满足驱动器的多种功能要求。利用压电陶瓷的高响应速度特性，设计出基于动力学惯性粘-滑原理的变换机构，实现驱动的自锁与步进；利用液力放大器对驱动力、位移分辨力加以提高。对双级式驱动器进行了实验研究，结果表明，双级式驱动器具有2～3nm的位移分辨力、不小于200N的驱动力、良好的自锁性能与位置保持精度。     

Monolithic Integration of Diffractive Microlens Arrays and Infrared Focal Plane Arrays

Monolithic integration method has been demonstrated to increase the fill factor of the infrared focal plane arrays (IRFPA). Which is consists of 256×256 Pt-Si schottky barrier charge coupled devices(CCD) operation in 3-5μm IR region. The relative silicon 256×256 element diffractive microlens arrays have been fabricated on the back side of the substrate of the IRFPA using binary optics technology. The aligning process between IRFPA and microlens arrays on each side of the substrate has been completed by IR mask aligner. The testing results show that the imaging quality is very good and the average optical response of the IR FPA is increased by a factor of 3.0, which is improved by about 25% compared with the hybrid integration method in the previous work.     

准最佳二进阵列

本文首次对一般的m-准最佳二进阵列进行了系统性的统一研究。在m-准最佳二进阵列的频谱、体积和平衡性方面得出了一些新结果。特别地还发现了若干种构造最佳和准最佳二进阵列的新方法。利用这些新方法和前人已找出的低维低阶阵列就可以构造出无穷多类高维高阶的最佳(或准最佳)二进阵列。此外文中还提出了若干未解决的难题。     

新式压电精密旋转驱动器

提出一种新型将压电叠堆驱动元件应用到精密旋转驱动器上的研究方案。在对驱动器工作原理和机械结构进行分析研究的基础上,建立了以压电叠堆为驱动元件的旋转驱动数学模型。采用有限元分析软件对机械结构进行了分析,得到了机械结构工作方向的静力学变形图和频率响应特性曲线;对低频状态驱动器的旋转分辨率进行了试验测试,并对样机的频响特性进行了试验测试,结果表明仿真分析结果基本反映了机械结构的谐振频率分布状况,对结构优化设计具有一定的意义,此外对影响测试结果精度的因素进行了分析。设计的结构具有低频工作稳定、分辨率高(0.136 6μrad)等优点。     

基于DOLPH—CHEBYSHEV均匀园阵方向图的合成算法

均匀园阵(UCAs)以其具有的许多优点,在很多场合都利用园阵而不用线阵。提出了一种期望信号在任意入射角度且保证最小副瓣电平的阵列方向图合成算法。该方法优点是计算效率高,适用于实时波束形成和波束指向应用等。新算法是基于均匀线阵(ULAs)DOLPH-CHEBYSHEV方法提出来的。计算机仿真结果证明了新算法的有效性和正确性。