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化学进展 2022, Vol. 34 Issue (1): 168-177 DOI: 10.7536/PC210354 前一篇   后一篇

• 综述 •

基于液晶弹性体的软体机器人

王猛*(), 杨剑峰   

  1. 东南大学化学化工学院 南京 211189
  • 收稿日期:2021-03-31 修回日期:2021-04-21 出版日期:2022-01-20 发布日期:2021-07-29
  • 通讯作者: 王猛
  • 基金资助:
    国家自然科学基金项目(52173109); 国家自然科学基金项目(51903048)
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Liquid Crystal Elastomers Based Soft Robots

Meng Wang(), Jianfeng Yang   

  1. School of Chemistry and Chemical Engineering, Southeast University,Nanjing 211189, China
  • Received:2021-03-31 Revised:2021-04-21 Online:2022-01-20 Published:2021-07-29
  • Contact: Meng Wang
  • Supported by:
    National Natural Science Foundation of China(52173109); National Natural Science Foundation of China(51903048)

作为热门的机器人研究方向,软体机器人通常由软材料制成,具有众多的自由度、能够承受大变形、连续变形和柔顺接触等优势,在微小物体操作和空间受限环境运动等特殊应用领域具有重要的研究价值。其中,液晶弹性体,作为一种最具代表性的智能材料,同时具有液晶各向异性和橡胶弹性,在外界刺激(热、光、电、磁、pH、湿度等)下,其相态或分子结构会产生变化,进而改变液晶基元的排列顺序,从而导致材料本身发生宏观形变,当撤去外界刺激后,液晶弹性体可以恢复到原来的形状。这种独特的双向形状记忆性能使液晶弹性体成为制备软体机器人最适宜的材料之一。目前,根据驱动方式的不同,液晶弹性体软体机器人的研究主要分为热驱动软体机器人、光驱动软体机器人、电驱动软体机器人及其他驱动类型软体机器人,如磁场驱动和湿度驱动液晶弹性体软体机器人等。本文综述了液晶弹性体软体机器人的研究进展,详细介绍了不同驱动方式的液晶弹性体软体机器人体系,并对液晶弹性体软体机器人的发展前景进行了展望。

关键词： 软体机器人, 液晶弹性体, 智能材料, 形状记忆

As a hot robot research direction, soft robots have potential applications in many fields, such as the operation of small objects in limited space, due to the advantages including many degrees of freedom, excellent adaptability and flexible contact. As a classical smart material, liquid crystal elastomers (LCEs) are very promising to be the suitable candidate for preparing the soft robots owing to the large and reversible shape deformations in response to external stimuli (heat, light, electric or magnetic field, humidity, etc.). Due to the changes of microscopic orders or molecular structures of uniaxial-aligned mesogens, the whole LCE materials can execute very large and reversible macroscopic actuation during the LC-to-isotropic phase transition process. At present, according to different driving modes, the research of LCE-based soft robots mainly focuses on the thermal-driven soft robots, light-driven soft robots, electro-driven soft robots, magnetic-driven soft robots and humidity-driven soft robots. This article reviews the developments of LCE-based soft robots, and also introduces the main different driving modes and related LCE-based soft robot systems in detail. Besides, the article further provides a view of prospective development in the future for LCE-based soft robots.

Contents

1 Introduction

2 Thermal-driven liquid crystal elastomer based soft robot

3 Light-driven liquid crystal elastomer based soft robot

3.1 Crawling soft robots

3.2 Rolling soft robots

3.3 Swimming soft robots

4 Electro-driven liquid crystal elastomer based soft robots

4.1 Carbon conductive material/liquid crystal elastomer based soft robot

4.2 Metal conductive material/liquid crystal elastomer based soft robot

4.3 Conductive polymer material/liquid crystal elastomer based soft robot

5 Liquid crystal elastomer based soft robots driven by other stimuli

6 Conclusion and outlook

Key words: soft robot, liquid crystal elastomer, smart material, shape memory
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图1 液晶弹性体在外界刺激下的双向形状记忆行为
Fig. 1 Two-way shape memory behavior of LCEs under external stimuli
图2 软体机器人在热刺激下实现8种不同的形状变化[41]
Fig. 2 Eight different thermal-induced shape changes of soft robots[41]
图3 软体机器人在不同近红外光刺激下实现精准多方向运动的过程[48]
Fig. 3 The precise multi-directional motion of soft robots under different near-infrared lights[48]
图4 蛇形软体机器人在近红外光刺激下实现蛇形运动[50]
Fig. 4 The serpentine locomotion of a snake-mimic soft robot under near-infrared light[50]
图5 基于kirigami的滚动型软体机器人[52]
Fig. 5 The rolling soft robot based on kirigami[52]
图6 微型游泳机器人在紫外光的驱动下运动的过程[56]
Fig. 6 A swimming micro-robot driven by ultraviolet light[56]
图7 基于液晶弹性体/炭黑的电驱动圆筒软体机器人[67]
Fig. 7 The electro-driven cylinder soft robot based on liquid crystal elastomer/carbon black composite film[67]
图8 软体机器人在电场下行走并推动重物[68]
Fig. 8 The walking and pushing modes of the soft robot under the electric field[68]
图9 软体机器人抓取和举起樱桃的实物图[70]
Fig. 9 The grabbing and lifting motions of the soft robot[70]
图10 软体机器人在外界磁场刺激下自发行走[75]
Fig. 10 The magnetic-induced spontaneous movement of the soft robot[75]
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摘要

基于液晶弹性体的软体机器人